PreArm: Gyros inconsistent + 4.5.x

Does anyone also face the PreArm: Gyros inconsistent message consistently appearing under 4.5.x?

This drone flew and hold the position well (4.1.0) before moving to 4.4.x and above. I had also done the IMU temperature calibration, and redo compass calibration. Still, this message repeatedly appears. Well, it will disappear after around 30 secs. We have changed from Here to Here3 GPS too. I have set up the Quicktune, preparing to redo the yaw tune. I am not sure whether it causes a loading and results in a timing issue.

I am concerned it will appear in the middle of the flight.

v4.1.0

Show your IMU temperature calibration graphs and results.


INS_TCAL1_ENABLE 1
INS_TCAL1_TMIN -13.6
INS_TCAL1_TMAX 59.5
INS_TCAL1_ACC1_X 1939.362338071
INS_TCAL1_ACC1_Y -554.187568083
INS_TCAL1_ACC1_Z 1688.396247451
INS_TCAL1_ACC2_X -5.613178470
INS_TCAL1_ACC2_Y -8.081226916
INS_TCAL1_ACC2_Z -27.184715789
INS_TCAL1_ACC3_X 0.039632460
INS_TCAL1_ACC3_Y 0.091594080
INS_TCAL1_ACC3_Z 0.574393618
INS_TCAL1_GYR1_X -300.376683380
INS_TCAL1_GYR1_Y 48.676591480
INS_TCAL1_GYR1_Z 125.156010421
INS_TCAL1_GYR2_X 2.302461492
INS_TCAL1_GYR2_Y -0.896771732
INS_TCAL1_GYR2_Z -1.918985685
INS_TCAL1_GYR3_X 0.108553615
INS_TCAL1_GYR3_Y -0.064986216
INS_TCAL1_GYR3_Z -0.014374726
INS_TCAL2_ENABLE 1
INS_TCAL2_TMIN -13.3
INS_TCAL2_TMAX 59.9
INS_TCAL2_ACC1_X 463.335034135
INS_TCAL2_ACC1_Y -2323.392362832
INS_TCAL2_ACC1_Z -4858.114144922
INS_TCAL2_ACC2_X 14.835226952
INS_TCAL2_ACC2_Y 29.525575915
INS_TCAL2_ACC2_Z 22.774787971
INS_TCAL2_ACC3_X -0.410330766
INS_TCAL2_ACC3_Y 0.878967419
INS_TCAL2_ACC3_Z 0.115655688
INS_TCAL2_GYR1_X -38.260576775
INS_TCAL2_GYR1_Y -31.397342952
INS_TCAL2_GYR1_Z -170.526964641
INS_TCAL2_GYR2_X -0.503284624
INS_TCAL2_GYR2_Y 0.271679625
INS_TCAL2_GYR2_Z 0.415153958
INS_TCAL2_GYR3_X 0.037741787
INS_TCAL2_GYR3_Y 0.016131007
INS_TCAL2_GYR3_Z -0.015183546
INS_TCAL3_ENABLE 1
INS_TCAL3_TMIN -8.9
INS_TCAL3_TMAX 49.9
INS_TCAL3_ACC1_X -3615.507678814
INS_TCAL3_ACC1_Y 1062.413384520
INS_TCAL3_ACC1_Z 4890.130266319
INS_TCAL3_ACC2_X 75.087498182
INS_TCAL3_ACC2_Y -14.146285857
INS_TCAL3_ACC2_Z -109.223797083
INS_TCAL3_ACC3_X 2.131124390
INS_TCAL3_ACC3_Y -1.080486979
INS_TCAL3_ACC3_Z -4.664176674
INS_TCAL3_GYR1_X -72.959348437
INS_TCAL3_GYR1_Y 20.617437053
INS_TCAL3_GYR1_Z -17.321579978
INS_TCAL3_GYR2_X -1.376233255
INS_TCAL3_GYR2_Y -1.234594042
INS_TCAL3_GYR2_Z -0.301245595
INS_TCAL3_GYR3_X -0.015163424
INS_TCAL3_GYR3_Y -0.016235922
INS_TCAL3_GYR3_Z 0.026986356

Can you share a log?

That looks very good.

I guess you need to wait 30 seconds.
Previous versions did not test consistency as good as newer versions.

1 Like

IMU temp calibration log or the Gyros inconsistent log?

Gyros inconsistent log - so a LOG_DISARMED log from boot

An indoor log will also appear.

There’s nothing obviously wrong here. It’s a CubeOrange - I wonder if its to do with the first IMU being a bit problematic. Be worth trying to disable it to see if the problem goes away.

I see, I will give it a try. appreciate for looking into the issue.

apologies for the late response due to other commitments.
I tried, and no Gyro inconsistent message is still there. logs.

Have I set it correctly?
EK3_IMU_MASK,6
INS_USE,0

I am not sure if I need to highlight, that the following quick-tune parameters went missing at the same time in the log. Is it due to LOG_DISARMED, enabled?
QUIK_AUTO_FILTER,1
QUIK_AUTO_SAVE,0
QUIK_AXES,4
QUIK_DOUBLE_TIME,10
QUIK_ENABLE,0
QUIK_GAIN_MARGIN,60
QUIK_MAX_REDUCE,20
QUIK_OPTIONS,0
QUIK_OSC_SMAX,5
QUIK_RC_FUNC,300
QUIK_RP_PI_RATIO,1
QUIK_Y_PI_RATIO,10
QUIK_YAW_D_MAX,0.01
QUIK_YAW_P_MAX,0.5

I am using 2 Pixhawk 6x both with minor differences with setup. They are recieving this Gyro not healthy message with 4.5.3 firmware. It does not appear when loaded with 4.5.2 and able to fly with 4.5.2 Arducopter.

This is a different issue for which there will be a fix in 4.5.4.

2 Likes

Glad to hear. I was about to chime in with the same report.