I have a hexacopter with an 850mm frame and 15 inch propellers. I was tuning the yaw PID and ended up setting the values to P:1.2 and I:1. During a test flight, I was spinning the copter rapidly to test the yaw rate, but then landed and disarmed it before attempting to take off again in loiter mode. However, the copter went into an uncontrollable roll over and crashed to the ground. Upon reviewing the log, I noticed that the compass direction was off and there was an error message stating ‘EFK ground Mag anomaly.’ Could the excessive spinning during my yaw testing have caused magnetic interference and affected the accuracy of the magnetometer readings, leading to the error message and the crash? How can I prevent this from happening in the future?"
Also what is the normal Yaw PID for a similar craft.
2023-04-13 18-10-42.tlog (550.9 KB)