Hi, I have a number of aircraft using standard Cube Oranges with ArduPilot. I have noticed attitude estimates drifting on the ground across a number of aircraft. We calibrate our gyros on every boot but only calibrate the accelerometers once during aircraft assembly. Has anyone else observed this? Obviously I don’t know for sure if the drifting is coming from the EKF or the IMUs directly but it seems most likely to be IMU. I was initially thinking of temperature but these drifts occur even when the Cube is at temp (60C). Any assistance would be greatly appreciated!
If you cant get the Cube out, the relatively easy thing to do is to allow the Cube to heat up then do the Accel calibration. This may only have to be done once, depending on how well this improves the issue.
The best way is to run the IMU temperature calibration process. At the end the new values can be save to the bootloader section so they are persistent across a full parameter reset.
During build phase this is very easy while you still have easy access to the Cube.
I use the standard procedure (not the offline scripted method) of setting some parameters, putting the Cube in a ziplock bag and throw it in the freezer for a few minutes, then plug into USB and allow it to sit undisturbed for quite some time (at least 30 minutes I think).
TCAL options to permanently save the new calibration, and do a bootloader update (even if there’s no new bootloader)