Appreciate the help. I've been wracking my brain around this for weeks.
I recently browsed the public logs and found this flight so I know it should work. https://review.px4.io/plot_app?log=1bce57f2-fb6a-487b-96c5-b68b56d69b32
The mag was calibrated outdoors and the yaw looks pretty clean. Here is a plot of the yaw overlayed with the cog. Is my rotation incorrect? https://ibb.co/mRDLkG
Here is a link to just walking around with the rotor/sensor outside. https://review.px4.io/plot_app?log=088adbf3-6aba-4430-9b9a-aae3940cd26c
I know the hardware works b/c it runs fine on v1.5.4. Here is a link using v1.5.4. https://review.px4.io/plot_app?log=7542396b-f163-4a2a-9446-4c4671a594e5
From v1.5.4 to v1.7.0 is there a new EKF check where the system has to be in a certain arming_state or in a certain nav_state to find the correct solution?
Also are you flying EAGLE's? What version of BSP and qrlSDK add on are you on?