Bad initialization of attitude after in-flight EKF yaw reset during compass-less operation #31098
Description
Bug report
Issue details
I'm reposting my previous forum post, since i didn't get any answers and I believe this may point to a software bug.
Description of the problem:
Today we experienced a strange event that caused the drone to tilt dangerously beyond 60º (even though ANGLE_MAX was set to 30º) while flying in Stabilize mode.
After reviewing the log, I found that there had been an in-flight Yaw Reset event. What surprised me is that the Roll estimate jumped by about 50 degrees! Looking at AHR2 and the IMU measurements, I’m fairly confident this wasn’t a hardware issue.
These were our settings:
EK3_SRC0_YAW,0
EK3_SRC1_YAW,0
EK3_SRC2_YAW,0
COMPASS_ENABLE,1
COMPASS_USE,0
COMPASS_USE2,0
COMPASS_USE3,0
There were two GPS receivers connected to the autopilot (intended for use as a Moving Baseline setup in the future), but for today we only planned to fly in Stabilize mode to tune the attitude/rate PID loops.
I’d like to know whether this behavior was caused by this parameter setup, and if there’s a safe way to operate without a compass (in manually controlled modes, of course).
I’m aware of the in-flight yaw reset feature. What doesn’t make sense to me are the initialization values of roll and pitch.
Thanks in advance for any insights!
Version
Copter-4.5.7
Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine
Airframe type
Octo Quad X
Hardware type
CubeOrange
Logs
https://drive.google.com/file/d/1SX72T4eYSp3aV0PTFdL3eMtAgzSLN4WG/view?usp=sharing