Hello everyone, my small aircraft encountered an EKF (Extended Kalman Filter) switch during flight, switching from the primary core to the backup core, and then an EKF error occurred, causing an automatic landing due to navigation failure. After checking the logs, I found that there was a significant change in yaw after the core switch, which led to the EKF error.
Actually, I disabled the second compass and only used the external one. From the logs, the two compasses seem similar, but why did the second core start rotating on its own? Before the error occurred, the aircraft was hovering in auto mode without rotating autonomously
Here are some screenshots of the logs.
I understand that the second lane also uses this single compass, but with a different set of IMU. The yaw in both lanes should always be consistent.
But from the log, it seems that the second core uses the built-in magnetic compass as the source. This magnetic compass is disturbed. Is it a bug in this version? I have not changed the EKF affinity and other parameters related to the source.
Based on the information, it can be confirmed that the only effective magnetic compass is being used.
The continuous drift of such magnitude, isn’t anyone curious about what’s going on?
