Hellow, I have two identical copters with an F405 FC, one I used to fly on Betaflight, the other I built for use with Arducopter. And I noticed a problem that Arducopter has a problem with flying without a GPS module.
In ACRO or in Stab, after high-speed maneuvers, the horizon (on OSD and in logs) becomes different from the real one on ±15-30 degrees. When the GPS was turned on, I observed this phenomenon only once.
At the same time, I have never seen such problem in Betaflight, no matter what maneuvers I make.
What is the problem? And how should it be solved?
I’m currently trying to understand how the EKF3 works, and how to tuning it to solve this problem.
I would be grateful for your help.
My params of ahrs, ek3:
EKF3:
EK3_ABIAS_P_NSE,0.02
EK3_ACC_BIAS_LIM,1
EK3_ACC_P_NSE,0.35
EK3_AFFINITY,0
EK3_ALT_M_NSE,2
EK3_BCN_DELAY,50
EK3_BCN_I_GTE,500
EK3_BCN_M_NSE,1
EK3_BETA_MASK,0
EK3_CHECK_SCALE,100
EK3_DRAG_BCOEF_X,0
EK3_DRAG_BCOEF_Y,0
EK3_DRAG_M_NSE,0.5
EK3_DRAG_MCOEF,0
EK3_EAS_I_GATE,400
EK3_EAS_M_NSE,1.4
EK3_ENABLE,1
EK3_ERR_THRESH,0.2
EK3_FLOW_DELAY,10
EK3_FLOW_I_GATE,300
EK3_FLOW_M_NSE,0.25
EK3_FLOW_USE,1
EK3_GBIAS_P_NSE,0.001
EK3_GLITCH_RAD,25
EK3_GND_EFF_DZ,4
EK3_GPS_CHECK,31
EK3_GPS_VACC_MAX,0
EK3_GSF_RST_MAX,2
EK3_GSF_RUN_MASK,3
EK3_GSF_USE_MASK,3
EK3_GYRO_P_NSE,0.015
EK3_HGT_DELAY,60
EK3_HGT_I_GATE,500
EK3_HRT_FILT,2
EK3_IMU_MASK,1
EK3_LOG_LEVEL,0
EK3_MAG_CAL,3
EK3_MAG_EF_LIM,50
EK3_MAG_I_GATE,300
EK3_MAG_M_NSE,0.05
EK3_MAG_MASK,0
EK3_MAGB_P_NSE,0.0001
EK3_MAGE_P_NSE,0.001
EK3_MAX_FLOW,2.5
EK3_NOAID_M_NSE,10
EK3_OGN_HGT_MASK,0
EK3_OGNM_TEST_SF,2
EK3_POS_I_GATE,500
EK3_POSNE_M_NSE,0.5
EK3_PRIMARY,0
EK3_RNG_I_GATE,500
EK3_RNG_M_NSE,0.5
EK3_RNG_USE_HGT,-1
EK3_RNG_USE_SPD,2
EK3_SRC_OPTIONS,1
EK3_SRC1_POSXY,3
EK3_SRC1_POSZ,1
EK3_SRC1_VELXY,3
EK3_SRC1_VELZ,3
EK3_SRC1_YAW,1
EK3_SRC2_POSXY,0
EK3_SRC2_POSZ,1
EK3_SRC2_VELXY,0
EK3_SRC2_VELZ,0
EK3_SRC2_YAW,0
EK3_SRC3_POSXY,0
EK3_SRC3_POSZ,1
EK3_SRC3_VELXY,0
EK3_SRC3_VELZ,0
EK3_SRC3_YAW,0
EK3_TAU_OUTPUT,25
EK3_TERR_GRAD,0.1
EK3_VEL_I_GATE,500
EK3_VELD_M_NSE,0.5
EK3_VELNE_M_NSE,0.3
EK3_VIS_VERR_MAX,0.9
EK3_VIS_VERR_MIN,0.1
EK3_WENC_VERR,0.1
EK3_WIND_P_NSE,0.2
EK3_WIND_PSCALE,1
EK3_YAW_I_GATE,300
EK3_YAW_M_NSE,0.5
AHRS:
AHRS_COMP_BETA,0.1
AHRS_EKF_TYPE,3
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_OPTIONS,0
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,0.01765343
AHRS_TRIM_Y,0.03191613
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2