On a Quadcopter with Black Cube 2.1, AP 3.6.11, there are many occurrences in which we get pre-arm checks failures due to Gyros or Accel. inconsistent.
After enabling logging while disarmed, we see a significant deviation of IMU2 readings from the other IMUs:
Yes, I saw this thread, and, unfortunately, reboot after the Cube is heated is not an option (from logistical point) …
I read somewhere that it is possible to force the Gyro to re-calibrate after the cube reaches the target temp.
Is anyone familiar with this?
I guess there is always an option to disable the IMU2, but that reduces the redundancy of the system, which is one of the key points here…
Rebooting is the only way I am aware of to re-initialized the EKF. Only by allowing the EKF to measure the bias of the sensor when it is at operating temperature can the EKF properly work. More details are included in the PR linked in the other thread.
In summary, the only way to handle this issue is to reboot after the IMU has reached temperature. At least now IMU temperature is sent over MAVLink (added in Plane 4.0.2) so there should be some indicator as to when the EKF can be re-initialized.