Hey there, I am struggling to get my EKF2 running. I installed the newest stable v1.16.0. I use the EKF2 for an underwater vehicle, so I disabled GPS, Baro as well and increased EKF2_MAG_NOISE = 0.7 (gauss). On top I fuse very accurate Motion Capture Data (EV). However from the estimator_status_flags I can see that EV is constantly False, whereas Mag is True. So my EV data that is very precise is always ignored, which leads to estimates that are nowhere near the reality. What could I possibly doing wrong?
Small update: I think one reason was that I had a “Preflight Fail: Accelerometer Bias” Warning. Turns out the EKF2 was using an accelerometer that was off by 5%. The other accelerometer was fine so I changed CAL_ACC*_PRIO to favor the working accelerometer. After that, the EV data was accepted for about 20s and EKF2 output looked ok, before EV data got rejected again. In the log entries I could see the “Warning: time jump detected. Resetting time synchronizer” and “time sync no longer converged”. I restarted the system after some time and the same behaviour occurred again. What might the reason for that warning be and do you have any suggestions on how to mitigate it. Any help highly appreciated
