After one or more autonomous takeoff and landing, no matter how smooth the landing, I am often experiencing a situation where the Pixracer flight controller returns one of these errors (and sometimes a position unknown error):
"PREFLIGHT FAIL: EKF HIGH IMU ACCEL BIAS"
"PREFLIGHT FAIL: EKF YAW ERROR"
Looking through the code I have not found a way to resolve this other than a full flight controller reset. After the reset the vehicle performs identically to before and is smooth. Accelerometer, gyro and magnetometer are all calibrated fully, as is level horizon. Drone is landing on a smooth, flat and level padded surface indoors.
I am hesitant to set COM_ARM_IMU_ACC, etc to a very high value, after already increasing it past default - for fear of missing a legitimate reason to not arm the vehicle.
Is there any way to reset a vehicles state and ekf2 test ratio variables while running? Ideally through mavlink messages or via mavlink console? Or any other resolution that would facilitate repeated and continued flight testing without dealing with this seemingly arbitrary message.
Pixracer FMUv4 with 1.8.0 dev (27b2dad)
PX4Flow flow sensor
TFmini range finder
custom quadrotor body
Any thoughts or insights would be appreciated!