I’ve dug into the logs even further, and we’re seeing two different problems:
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Getting IMU high accel bias. I’ve monitored the bias, and it stabilizes quickly and doesn’t change during the flight, and is consistent through 6+ flights. It just happens that the bias is slightly above the threshold for throwing the high bias warning. ~3e-3 vs 2.4e-3. I’m thinking either cal issue, or the accel is just like that and I need to turn up the detection threshold a little.
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We get preflight failed: EKF internal checks messages quite a bit. I think I’ve correlated to random single entry spikes in magnetometer we’ve been seeing. I’ve also discovered that I don’t think our HERE2 GPS magnetometer is working with our 1.7.3-based build of PX4, so it switched to one of the cube’s internal mags. I’m still not sure why I’d get single sample spikes of such high magnitude. Compatibility with Here+ V2