Data_ekf_yaw_reset

Cube Autopilot
1

Hi,

I trying set up a quadcopter with the Cube and usually i have an event “EKF_YAW_RESET”.
When the quadcopter takeoff it rotates about its z axis around 5º to the left.

I have read it was happened on arducopter 3.4 but i am using the last arducopter firmware and the last MP version.

Here is the log if anyone could see it.

https://drive.google.com/open?id=1y_IqHrRvy1QgnsYQScPpqDSgN2vtaQ8q

Regards.

2

This is due to interference from magnetic material in the ground

3

Can also be from not doing compass mot

4

I did it, but allawys i had the same problem. the interference does not exceed 4%, but when I finish the “compass / mot calibration” I have the same errors:

-The artificial horizon begins to move in all directions
-EKF Pos vert variance.
-EKF IMU 0 has stopped aiding
-EKF IMU 1 has stopped aiding…

5

@jschall

6

It is a control issue. Your arms aren’t aligned on your frame and you are running out of yaw authority.

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