im having some problems with the GPS presicion on Loiter. The drone never stay on one point, some times the drone goes to the sides, etc, its random where it will move. I tought may be its a PID problem, I know there are not perfect yet, but I dont think its the problem because im using the IRLock precision landing, and when I use the precision landing mode, the drone always nail the beacon perfectly, very precisely.
Im using the Orange cube, 4.0.5 FW, Here 3 GPS, TFmini rangefinder, Pixy camera to the IRLock presicion landing, 6S 16000 battery, Mauch electronics.
Here is some pictures from our drone and the telemetry.
In your compassMot calibration page it seems the motor interference were not detected. Maybe the motors are not the main source but something else variate with motor output?
Do you have any high current device/cable/wire near the Cube?
In your case I think disabling the internal compass will work. But you need to consider the EKF may lost a reference sensor.
Yes. The Interference should go up when Current goes up, if motor does affected compass sensing.
But somehow those 2 lines does not variate in your CompassMot.
In the log it clearly shows that strong interference appeared whenever RCOUT goes high.