I always thought home used to be set on arming…
While here it looks like it was set 40sec before arming, like on boot or first GNSS fix?
In this particular situation 40 sec means 30 meters.
Hi @Paul_Paku,
Home can be set multiple times. By default it is set once before arming soon after the EKF gets a position estimate. This is normally a few seconds after the GPS gets a 3D fix but it can be delayed while the EKF figures out the accelerometer and gyro biases (essentially the “trim” value to make them report zero while the vehicle is not moving) and heading (from the compass).
It is then set again when the vehicle is armed unless the user has manually moved the home position using the GCS.
BTW, I moved this discussion to the 4.6 topic