Why does the EKF3 IMU0 constantly stop and start aiding?

ArduCopter Copter 4.6
1

Hello,

Every time my vehicle boots up, I am endlessly spammed with these messages for each IMU:

EKF3 IMU0 stopped aiding
EKF3 IMU0 started relative aiding
EKF3 IMU0 fusing optical flow

What could be causing the IMUs to stop and start aiding so much? How do I resolve this?

Log while disarmed

The most recent post related to this error is from over one year ago and that post was related to GPS. The setup related to this post is a 2.5" build meant for indoor flying using an optical flow and lidar - no GPS.

Thank you

2

Bump. Hoping someone can chime in.

3

I am spammed to. I have a test vehicle I am trying to get closer to good with this setup but its taking a long time. The big issue is that the performance of optical flow is directly affected by the HAGL estimate which can be very bad indoors (because the rangefinder is not used).

2 Likes
4

Is there any benefit to the message? I’m already compiling custom firmware. If things still work and the message is more spam than serious, then I’m tempted to suppress the message