Hi there,
I have problem with the EKF2 gyro bias estimate (at least I think so;)).
When I have my drone powered after a few minutes yaw begins to continuously drift - when looking at the gyro data, this make sense, as even for no motion the z-gyro provides a small non-zero value (which is significantly larger than the x/y gyro “zero” values).
I repeated the calibration which helps for the next minutes. However, after some time the problem occurs. I was wondering whether the problem might be due to temperature changes of the sensor, but strong temperature didn’t really affect the gyro offset.
An interesting thing I notice, when I e.g. pitch the drone by 90deg the problem appears on the x-gyro, resulting in a continous drift around the vehicle’s x-axis.
I tried to manually set the gyro bias to the gyro value at stand-stil, the drift vanishes for 1-2 minutes afterwards the problem reoccurs.
For my naive understanding the problem is that the gyro bias is estimate to a wrong value which is an offset to the true sensor bias.
Any ideas and pointers are appreciated!
Thanks
Daniel