Hi everyone,
I’m using a Matek H743 Mini flight controller combined with a Here3+ GNSS module, running ArduCopter. The system is configured to act purely as an AHRS module — no motors, ESCs, or RC input — just to provide accurate Euler angles (pitch, roll, yaw) via MAVLink.
Everything seems to work well except for one issue:
When I rotate the module approximately 90 degrees in yaw, the yaw angle drifts noticeably and takes tens of seconds or more to stabilize at the correct heading.
- The compass has been calibrated several times.
- GNSS is stable and has a good 3D fix.
- I’ve tested in multiple locations, so I don’t believe it’s due to local magnetic interference.
I suspect this might be related to EKF settings or fusion parameters, but I’m not sure which ones could be responsible. I’ve searched the documentation but couldn’t find anything definitive for this AHRS-only use case.
Has anyone else experienced this, or does anyone have suggestions on how to troubleshoot or resolve it? Any recommended parameter changes or diagnostic steps?
Thanks in advance!