Hi, I have an external mag (Mag0) connected via I2C and it is better than internal mag (Mag1). Also better placed.
However, in some flights I see that Mag0 times out and the vehicle magnetometer falls to Mag1. I looked through the logfile and it seems that the Mag0 publishes in ~0.4s occasionally and it is just over the threshold for timeout(?). It is good that there is fallback to the noisy internal mag. But then it never reverts back to Mag0 despite it being healthy and publishing under the threshold.
Is this behavior intentional? or is it a bug?
Here is the logfile:
https://review.px4.io/plot_app?log=320a33bc-7227-4056-b8a6-fdd4bde72702