Hi everyone,
I’m flying a tricopter VTOL (tiltrotor) on ArduPlane 4.6 using a SpeedyBee F405 WING Mini and a BZGNSS BZ-251 GPS module with built-in compass.
During hover in QLOITER or QHOVER, the drone drifts and doesn’t hold position. Yaw seems inconsistent, and I suspect a compass issue or interference.
- My Setup:
- Flight Controller: SpeedyBee F405 WING Mini (STM32F405)
- GPS: BZGNSS BZ-251 (UBlox + integrated compass via I²C)
- Firmware: ArduPlane 4.7.1
- VTOL Type: Tricopter + tiltrotor
Q_FRAME_CLASS = 7,Q_TILT_TYPE = 1- Compass parameters:
COMPASS_ENABLE = 1
COMPASS_USE = 1
COMPASS_EXTERNAL = 1
COMPASS_ORIENT = 0
link of my logs : https://drive.google.com/file/d/1gbIEvmrO-SVQdlUNv3OwhJ6yhwwSSrGF/view?usp=sharing
- What I’m Observing:
- Drone does not hold position during hover
I’d really appreciate if anyone familiar with this GPS/compass combo or the F405 Wing Mini could help confirm if my compass is causing EKF divergence. Any suggestions for layout changes or interference reduction are welcome too!
Thanks!
— *Achraf
*