Hello, We are testing a large quad.
Flight Controller: Cube Orange +
GPS: Here4
Weight: 15Kg
Airframe: T-drones M1200
FW version: 4.4.4
The flight is very stable and vibrations are below 20m/s/s but there are a lot of EKF3 lane switching messages. From logs, it can be seen that there are yaw reset messages along with lane switching. The GPS/Compass (here 4) is isolated from other electronic components and is mounted on a mast. There is some noise in one of the barometer as well. Could that be a factor contributing in this? We have also done Magfit Calibrations but that has not resolved the issue What could be the reason for this prompt. How can we rectify this?
Did you configured the notch filter?
Yes notches have been configured.
@dkemxr @xfacta @priseborough @rmackay9 please guide in this regard. Will be grateful for your valuable input.
Regards
The vibrations look OK, so that’s not a big problem.
Baro1 and 2 are OK, but Baro 0 is quite noisy, and every time it spikes up and down there is the EKF lane change.
I would say set:
BARO_PRIMARY,1
and retest.
You dont need the second notch:
INS_HNTC2_ENABLE,0
and adjust this:
INS_HNTCH_REF,0.30
and the notch filter will be fine.
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Hi @xfacta, Thanks for the suggestion. It worked brilliantly. I did 5 to 10 flights after this and no issues. Really appreciate your input.