I did the sensor calibration. Pitch and roll estimates are satisfactory, but the yaw estimate is acting strangely; it moves basically proportionally with roll. E.g. if I invert the aircraft, the yaw rotates by 180 degrees. It’s almost as though the yaw estimate thinks the sensor orientation is set to 90 degrees (it’s not, and if it were, I would think the pitch and roll estimates would be wrong as well).
Also, I get a large yaw offset, even after setting the magnetic declination. As large as 90-180 degrees.
I’m having the same problem whether I use the Q Estimator or EKF2, neither of which have I touched.
If you share more about your setup someone might be able to spot the problem. Which autopilot, PX4 version, how is it mounted, any external compass, etc. Share a log (http://logs.uaventure.com/) if you have one.