@223Wylde wrote:
I have a consistent problem with Position Hold, if I do a compass & accelerometer calibration, the quad always flies absolutely perfect in position hold for an entire battery, no compass variance or other warnings during the entire flight, and I can cycle through various flight modes with no problems.
Always on the next flight without calibrating compass or accelerometer, the problems start, it always flies with a toilet bowl oscillation in postion hold(generally increasing in severity with time), repeated compass variance warnings, EKF2 IMU ground mag anomaly warnings, and repeated switches between compass 1 and 2, and switches between IMU 0 and 1. Nearly had a serious crash just after it switched IMUs near the end of the attached flight log, it twitched abruptly, then rotated around the Z axis in a wild toilet bowl rotation, managed to get it on the ground with no damage - barely.
Other than recalibrating compass and accelerometer before every flight, is there any way to resolve this? After comparing logs of flight with calibration vs following flight, INS_gyro offsets are significantly different for both IMUs, but all other sensor offsets I could find remained unchanged. I do have the "learn offsets automatically" checked under the compass settings section(default I believe), does that be alter gyro offsets?
129.BIN (3.4 MB)
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