I made some tests with my Black Cube:
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I put the Cube in the freezer waiting for it to cool
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Powered it on and waited for it to heat up
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Tried to arm it
I got different results with AP Copter 3.5.7, AP Copter 3.6.11.
In all cases IMU2.GyroZ deviated significantly as temperature increased
With AP Copter 3.5.7 there were no problems arming the drone while all IMUs were enabled (INS_USE==1, INS_USE2==1 and INS_USE3==1_)
With AP Copter 3.6.11 I wasn’t able to arm the drone because of Gyros inconsistent warning, all IMUs were enabled (INS_USE==1, INS_USE2==1 and INS_USE3==1_)
With AP Copter 3.6.11 I was able to arm it in the same conditions only when disabling IMU2 (INS_USE2==0).
My goal is to be able fly with AP Copter 3.6.11 without having to reboot the cube after it warms up.
@philip Can you help me with this one?
Attached are pictures from the logs:
AP Copter 3.6.11 with all IMUs enabled:
AP Copter 3.5.7 with all IMUs enabled:
AP Copter 3.6.11 with only IMU1 and IMU3 enabled:
