Hi all, I am trying to find the cause of an innovation spike. GPS stated it was in RTK float. The drone was just doing a hover and randomly flew in one direction then back until its regained position. At the point, the SP innovation spiked the Hacc and Vacc of the GPS dropped to 0.01.
KDE4014 motors with 18.5" props
Tmotor F35 ESCs
Cube orange FC
LW20 laser altimeter