Transition to DCM with EK3 with forced DCM

ArduPlane Plane 4.5
1

I have a Matek H743 V3. It’s a VTOL aircraft. The transition to DCM during flight is completely disabled. On EK3 cores, I have inertia, compass, barometer, and I also use AirSpeed. During flight, my aircraft switched to DCM for the first time in a long time. I have one simple question: is switching to DCM provided for in the code even if this function is disabled in the settings? I don’t have any logs because the aircraft was lost. Thank you in advance for your response

2

DCM is fallback system. I would guess that EKF was unable to provide attitude estimate so DCM was the only attitude source left if that is indeed the case.

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3

I have 0 specified in the EKF_FALLBACK configuration. And I have everything set in the AHRS_OPTIONS parameter. Under these conditions, can the aircraft still switch to DCM?
My firmware version is 4.5.7.

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