Hi, I had a strange flight on tried and tested setup, The ahr2 data and ATT data deviated a lot and the plane was unstable.
I have noticed that when I did the preflight reboot shutdown -
5/13/2023 3:26:11 AM : EKF2 IMU2 is using GPS
5/13/2023 3:26:11 AM : EKF2 IMU1 is using GPS
5/13/2023 3:26:11 AM : EKF2 IMU0 is using GPS
I moved the plane quite a bit in all axis and rotated it about 90 degreed in yaw at this point in the log
5/13/2023 3:25:39 AM : EKF2 IMU2 origin set
5/13/2023 3:25:39 AM : EKF2 IMU1 origin set
5/13/2023 3:25:39 AM : EKF2 IMU0 origin set
5/13/2023 3:25:33 AM : EKF2 IMU1 tilt alignment complete
5/13/2023 3:25:33 AM : EKF2 IMU0 tilt alignment complete
5/13/2023 3:25:33 AM : EKF2 IMU2 tilt alignment complete
5/13/2023 3:25:27 AM : EKF2 IMU2 initial yaw alignment complete
5/13/2023 3:25:27 AM : EKF2 IMU1 initial yaw alignment complete
5/13/2023 3:25:27 AM : EKF2 IMU0 initial yaw alignment complete
Could this cause the EKF to be unhappy ?
Also all the arming checks are turned on and when I took off the EKF was good and green. Immediately after takeoff everything was wrong the heading was switching 180degrees