@tridge wrote:
Hi Paul and Randy,
Regarding the problem we're chasing with the EKF2 attitude going crazy at startup I think it may be related to the arming time.
If we take this log as an example:
http://uav.tridgell.net/Paul/replay-logs/xracer250-20.bin
with the replay PR#4043 applied this replays nicely and gives good attitude. The real arming time for that log is 26192ms.
If however I use --arm-time=19000 in replay to force EKF2 to see the board as armed at 19s then the attitude goes completely mad. This is despite it having plenty of time to settle and the IMU data being fine.
I suspect there is something wrong in AP_NavEKF2_Control.cpp. If I use --arm-time=20000 then its all fine and gives good attitude. It is getting IMT data from 11.7s, so it should have had plenty of time to settle before 19s.
The plane user that saw this issue had ARMING_REQUIRE=0, so the board started armed. I suspect that is the same issue.
Cheers, Tridge
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