Step-like offset jump - IMU2 gyro

ArduCopter Copter 4.4
1

Hi,

I am having step like IMU2 (L3GD20H) offset change (±100) after about six minutes after boot (Quad perfectly stationary). I read that this issue has been reported before. My question is it resolved in latest 4.4.4 (otherwise it might be hardware related)?

Regards
FA

2

What Flight Controller is it?

3

Pixhawk 2.4.7 fmu V3

Here is the event captured. IMU2 temp is also higher than IMU1.

Gyro_offset Jump
Gyro_offset Jump1356×544 152 KB

4

I have concluded that this is a hardware fault on this particular gyro chip. When IMU2 temperature reaches above 40degC it behaves sensibly with no further jumps.

I just have to wait around 5 minutes and then reboot the quad.