Gyro acc drift kakute7mini3

[bgiannes123]

Current Behavior

With iNav 3.0.1, drone gyro and or acc drift large amount v quickly. Drone is plugged into usb and connects to iNav config without issue. Then after about 5 minutes of just sitting there it start rolling to the right. After about 20minutes it’s at about 30deg!? The same drone with betaflight flashed does not have this issue and only rolled about .4deg in an hour.

Steps to Reproduce

1. Plug in usb
2. watch drone drifting /rolling in iNav config
3. Inflight drift quickly becomes so bad the drone is uncontrollable in angle mod. Rtl position hold etc can’t be used safely.

Expected behavior

Without vibration roll should not drift like this so quickly.

Additional context

With betaflight install there is no issue with this same drone. And yes drone is calibrated, only setup Ports, gps type, loaded air frame setup, modes. Everything else is default.

• FC Board name and vendor:kakute7mini3
• INAV version string: 3.0.1. 2.6.2 same issue

[DzikuVx]

Please provide blackbox log

[DzikuVx]

And photos of your setup

[bgiannes]

sorry having github account issues, logged on as bgiannes. here is the 'diff'

diff

version

INAV/KAKUTEF7MINIV3 3.0.1 Jul 4 2021 / 14:07:25 (753c4479)

GCC-9.3.1 20200408 (release)

start the command batch

batch start

resources

mixer

mmix reset

mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000

servo mix

servo

safehome

logic

gvar

pid

feature

feature GPS feature PWM_OUTPUT_ENABLE

beeper

map

serial

serial 0 2097152 115200 115200 0 115200 serial 3 64 115200 115200 0 115200 serial 5 2 115200 115200 0 115200

led

color

mode_color

aux

aux 0 0 0 1700 2100 aux 1 1 1 900 1300 aux 2 10 2 1700 2100 aux 3 11 2 1300 1700 aux 4 13 3 1700 2100

adjrange

rxrange

temp_sensor

wp

wp 0 invalid

osd_layout

osd_layout 0 0 27 0 V osd_layout 0 1 1 10 V osd_layout 0 7 2 1 V osd_layout 0 8 0 2 V osd_layout 0 9 0 7 H osd_layout 0 11 1 11 V osd_layout 0 12 1 12 V osd_layout 0 13 17 1 V osd_layout 0 14 2 0 V osd_layout 0 15 12 2 V osd_layout 0 22 14 0 V osd_layout 0 23 10 1 V osd_layout 0 28 23 5 H osd_layout 0 30 0 11 H osd_layout 0 31 2 3 H osd_layout 0 32 1 9 V osd_layout 0 38 1 10 H osd_layout 0 85 23 3 H osd_layout 0 110 22 1 H osd_layout 0 112 25 1 H osd_layout 0 122 2 11 H

master

set looptime = 250 set gyro_main_lpf_hz = 130 set gyro_main_lpf_type = PT1 set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_q = 150 set acc_hardware = MPU6000 set acczero_x = 100 set acczero_y = -3 set acczero_z = -182 set accgain_x = 4090 set accgain_y = 4063 set accgain_z = 3988 set align_mag = CW270FLIP set mag_hardware = QMC5883 set magzero_x = 172 set magzero_y = 97 set magzero_z = -466 set maggain_x = 1353 set maggain_y = 2284 set maggain_z = 1371 set baro_hardware = BMP280 set min_check = 1050 set rssi_channel = 12 set serialrx_provider = CRSF set blackbox_rate_denom = 8 set motor_pwm_rate = 8000 set motor_pwm_protocol = DSHOT300 set throttle_idle = 12.000 set failsafe_procedure = DROP set model_preview_type = 3 set small_angle = 180 set applied_defaults = 2 set gps_sbas_mode = AUTO set airmode_type = THROTTLE_THRESHOLD set osd_video_system = NTSC set i2c_speed = 800KHZ set name = :WST set tz_automatic_dst = USA

profile

profile 1

set mc_p_pitch = 38 set mc_i_pitch = 55 set mc_d_pitch = 25 set mc_p_roll = 35 set mc_i_roll = 50 set mc_d_roll = 25 set mc_p_yaw = 45 set mc_i_yaw = 70 set dterm_lpf_hz = 100 set dterm_lpf_type = PT1 set dterm_lpf2_hz = 150 set dterm_lpf2_type = PT1 set yaw_lpf_hz = 30 set d_boost_factor = 1.500 set d_boost_max_at_acceleration = 5000.000 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set setpoint_kalman_enabled = ON set setpoint_kalman_q = 200 set rc_yaw_expo = 70 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60

battery_profile

battery_profile 1

end the command batch

batch end

[bgiannes123]

sitting level but see screen.

[bgiannes123]

Another thing I noticed, in the OSD it shows distance from home ~100km, and -50m height. This happens at the same time as the roll drift. A reboot clears this, usually.

[avsaase]

@bgiannes123 this is very strange. Are you sure you flashed the correct target firmware?

[bgiannes123]

Yes latest “online” version, 3.0.1 kakute7mini3. This is a new fc, with new iNav support. So maybe something with the default config?

However this happens on 2.6.2.

I did think it was a damaged gyro /acc until I installed betaflight and had no issues. This fc is installed in a flywoo LR so I want inv for RTL

[avsaase]

I have this same FC with 3.0 and haven't had any issues.

[bgiannes123]

Is your fc used in a 3-5” quad setup, with a gps? And you have no drift in angle mode?

can you post your diff please.

[avsaase]

Is your mag alignment correct?

I have this FC on a 4 inch quad, with gps/compass and ii don't have this issue. I'm on vacation and don't have the quad with me so I can't post a diff.

[bgiannes123]

Did a “field mag cal “ each time used the stick commands. But when it not drifting position hold works. But don’t want to try rtl.

[bgiannes123]

I’ve noticed that sometimes at boot the mag is flipped or is displaying the wrong direction maybe 180 deg off, and then the rolling starts. But after a reboot this gets corrected, and all is normal.

[bgiannes123]

the setup, using external qmc5883 mag

[rabbitjax]

I think I read somewhere that ardu pilot isn't supported in v3 of this fc v1 & 2 are I'm pretty new at this but maybe try v1 or v2 of same fc

[bgiannes]

I think I read somewhere that ardu pilot isn't supported in v3 of this fc v1 & 2 are I'm pretty new at this but maybe try v1 or v2 of same fc

You are correct, ardupilot can’t run on this v3 of the board. But this is a iNav thread. Ps I do have 2x kakute v2’s and ardupilot does work v well on those.

[stale[bot]]

This issue / pull request has been automatically marked as stale because it has not had any activity in 60 days. The resources of the INAV team are limited, and so we are asking for your help. This issue / pull request will be closed if no further activity occurs within two weeks.