Hi, guys! 
I am working on object-avoidance copter with BendyRuler(horizontal) in auto mode instead(can not fix the problem with vertical), on my real flight experiment, I set a experiment which the copter should navigate around the obstacle(a tree). It did navigate around the tree. In the mean time, copter turned around even though there are no obstacles ahead.
I have analyzed the log acoording the video ArduPilot Log Analysis Seminar 16th August 2021 instructed, and found something strange:
the innovation of mag(XKF3[0]) is not in the right range that it should be(at least below 1), and the copter got the wrong turn exactly when the innovation went wild:
That makes me wonder is there any correlation of the wrong turn and mag innovation.
here is the layout of the magnetometer and this is the only compass being enabled.
Can you tell me is it true that the wrong turn is related with mag innovation or there is something else that related.
flight video: QuadCopter turns even though there are no obstacles
flight log: https://drive.google.com/file/d/1Z3T9fM3U7ObEfdYi4_8tIgxdx5W1KBsB/view?usp=sharing
Parameters:
OA_param.param (18.8 KB)