"Arm: Waiting for Nav Checks" error + yaw drift when copter is still

@Clem wrote:

Hi,

When trying to arm my pixhawk with my RC controller, I get an error "Arm: Waiting for Nav Checks".
From looking at the code this could be due to AHRS not being healthy because of an underlying EKF issue.
I've enabled EKF logging with LOG_REPLAY but both EKF1 and EKF2 are logging null values which seems to indicate that the EKFs haven't started (confirmed on Mission Planner HUD where the EKF seems to be off).
Simultaneously the yaw calculated by the pixhawk behaves strangely: I rotate the copter from pointing East to pointing West, the yaw then displays 271 degrees but instead of stabilizing at 271 the yaw increases gradually to 309 over a period of 30 seconds all this while the copter is sitting still on the floor, see yaw graph below:

A couple of things that might be linked to that problem:

• I have some metal in the frame that distorts the magnetic field but this has been taken care of by setting the soft iron parameters,
• pixhawk setup is flipped (AHRS_ORIENTATION=8)
• external compass is rotated by -45 degrees (COMPASS_ORIENT = 7)
• strangely AHRS_EKF_TYPE shows up as 2 in Mission Planner but its value is "1" in the logs (I have double checked this with several reboots)

This arming issue started happening once I upgraded my pixhawk to V3.4.2 (6076bdfc) up from V3.3-dev (21ed8600)).
Log file can be downloaded here: https://drive.google.com/file/d/0B5T_8q1N9T26dnVuUDRuVUM1OVE/view

Any idea on what's creating the problem?

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