Slow EK3 Yaw drift - Githubissues

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source

http://ardupilot.org/

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Slow EK3 Yaw drift #17030

Open andyp1per opened 3 years ago

andyp1per commented 3 years ago

I'm still seeing slow EK3 yaw drift on 4.1-dev copter (e2a350f12ea289c50074ebb3dfb62ca4f12902c9). It's much better than it was, but still not quite as good as EK2. Here is a replay log. The copter rotated through 90o during the course of the hover. This flight was indoors. The copter has GPS but no compass

log2.zip

@rmackay9 @priseborough FYI

chobitsfan commented 3 years ago

Hi @andyp1per I also see this issue. The copter fly indoor, no gps, optical flow and compass It may related to #13326

rmackay9 commented 3 years ago

@andyp1per how do you feel about re-testing this with the latest beta?

andyp1per commented 3 years ago

Hi @rmackay9 I can have another go, but was still seeing this last time I flew on master even with all Paul's fixes. It's a little bit inconsistent - sometimes it happens and sometimes it doesn't.