I flew this plane again today and unfortunately the problems are back with a vengeance.
This time in addition to the speed values going crazy, the altitude was too, so I did not dare try RTL. For about 15 minutes I was able to fly ok in FBWA until suddenly I saw “DCM active” / “EKF3 active” alternating. When in EKF3 the artificial horizon was spinning around and the plane tried to follow suit. If I did not have FPV video and I was not watching it at the time, I probably would have lost the plane. For the next 20 minutes the artificial horizon kept spinning, even after landing.
Here is a clip of the problem moment after which I had to use manual mode, and another showing values going crazy even after landing:
https://youtu.be/4Dy6xvB69Ic
The log is again showing discrepancy between blue and red lines, this time much worse and pretty much throughout the entire flight. In this screenshot the further out section toward the right is where the above clip happened, right where a particularly large diversion between red and blue occurred:
Not sure if it’s related, but while in FBWA for the first part of the flight, there were small wobbles in roll occurring rhythmically about every 2 seconds, these were only noticeable in the HD footage afterward:
Please PM me if you’d like to see the dataflash log. At first I suspected bad sensor data but I can’t see any (checked GPS lat/lon/alt, BARO alt, IMU gx,gy,gz,ax,ay,az, anything else that would mess up EKF?).
I’d like to go back to 3.9.8 but I need to modify some options in the hwdef for my setup (current sense on RSSI pin), so I can’t use the official build as is. Does anyone know how I should reset my git checkout so that it’s at Plane 3.9.8 ?