Y E S
after this period of "silence", the uc4h project has reached a mile stone today
I did the first real flight using (only) the uc4h gps-mag node ... and, it went well
To reach that point I had to build a new copter. My old one was just too small and cramped. From the pics you easily will recognize what it became LOL.
My initial plan, as mentioned before, was to have the gps and magnetometer of the uc4h node enabled in addition to the usual gps and two magnetometers, but to configure things such that the 2nd gps and 3rd compass are not used but their data recorded. However, this didn't worked out for reasons (bugs?) described elsewhere. So, I decided to take the risk and substitute the normal gps+magnetometer with the u4ch gps-mag node. To do that with minimal intrusion I installed both gps+mag units on the copter, but in a first flight had connected only the normal gps+magnetometer unit, and in a subsequent flight only the u4ch gps-mag node.
Since I'm testing and running the code on the bench for such a long time now, and relevant things also successfully went into uavcan-izing the STorM32, I had quite some trust in it and was confident that it will work out well. Nevertheless, it's a great thing to actually see that in a real flight.
In the data log, I see two red EKF warnings/errors. I'm not sure what they are supposed to tell me. Signs of trouble?
There had been one "surprise", namely with the configuration of the magnetometers. Usually there is some smartness at work, which puts the external mag on ID1 and the internal on ID2, and sets the primary, used, and external flags accordingly. Not so with the uavcan mag, it was placed as ID2, and the primary, used, and external flags were set quite incorrectly. So, a point to improve, but not a big issue.
Finally: Pavel, THANKS so much, sir!
Pics and the log file: