@andyp1per wrote:
I'm trying to understand the new goodness of EKF2. In my logs NKF2->MI is always zero but NKF7->MI shows periodic switching to the internal compass late in the flight. The first EKF instance is always used, so it doesn't really make things worse, but certainly the second instance errors get large when the second compass is used, My external compass is rock solid so I really don't want the EKF to use the internal except in the case of failure.
Is this normal? Should I switch off the internal compass? Should I switch off IMU2 (I always used to with Copter 3.3)?
Thanks
andy
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