# Large EKF errors with SD Flight and v1.7.0-rc1 **URL:** \ **Category:** Flight Testing & Log Analysis\ **Created:** [December 7, 2017, 1:24am UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064 "2017-12-07T01:24:37Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![geebd](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/9dc877/32.png) [@geebd](https://discuss.px4.io/u/geebd)\ **Post date:** [December 7, 2017, 1:24am UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/1 "2017-12-07T01:24:37Z")
Can anyone tell me what is going on here? I’m running PX4 on a sensor to get an EKF solution so it’s just attached to a multirotor. Why is the GPS good but the EKF way off? [https://logs.px4.io/plot\_app?log=1397a6a3-fb0c-41cb-92d9-f8814e74838e](https://logs.px4.io/plot_app?log=1397a6a3-fb0c-41cb-92d9-f8814e74838e) Thanks, Brandon ---
**Author:** ![CarlOlsson](https://discuss.px4.io/user_avatar/discuss.px4.io/carlolsson/32/4175_2.png) [@CarlOlsson](https://discuss.px4.io/u/CarlOlsson)\ **Post date:** [December 7, 2017, 7:08am UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/2 "2017-12-07T07:08:26Z")
Hi, - Do you have the module mounted isolated from vibrations? - Could you try a test when you walk around with the multirotor without powering it, except for the px4 sensor, in order to see the performance of the ekf without vibrations and mag interference? ---
**Author:** ![acfloria](https://discuss.px4.io/user_avatar/discuss.px4.io/acfloria/32/1568_2.png) [@acfloria](https://discuss.px4.io/u/acfloria)\ **Post date:** [December 7, 2017, 8:15am UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/3 "2017-12-07T08:15:26Z")
Did you do the mag calibration indoors or on the field? ---
**Author:** ![jinchengde](https://discuss.px4.io/user_avatar/discuss.px4.io/jinchengde/32/1549_2.png) [@jinchengde](https://discuss.px4.io/u/jinchengde)\ **Post date:** [December 7, 2017, 9:34am UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/4 "2017-12-07T09:34:51Z")
the vibration is looks good. not too large ---
**Author:** ![geebd](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/9dc877/32.png) [@geebd](https://discuss.px4.io/u/geebd)\ **Post date:** [December 7, 2017, 4:09pm UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/5 "2017-12-07T16:09:19Z")
Appreciate the help. I’ve been wracking my brain around this for weeks. I recently browsed the public logs and found this flight so I know it should work. [https://review.px4.io/plot\_app?log=1bce57f2-fb6a-487b-96c5-b68b56d69b32](https://review.px4.io/plot_app?log=1bce57f2-fb6a-487b-96c5-b68b56d69b32) The mag was calibrated outdoors and the yaw looks pretty clean. Here is a plot of the yaw overlayed with the cog. Is my rotation incorrect? [https://ibb.co/mRDLkG](https://ibb.co/mRDLkG) Here is a link to just walking around with the rotor/sensor outside. [https://review.px4.io/plot\_app?log=088adbf3-6aba-4430-9b9a-aae3940cd26c](https://review.px4.io/plot_app?log=088adbf3-6aba-4430-9b9a-aae3940cd26c) I know the hardware works b/c it runs fine on v1.5.4. Here is a link using v1.5.4. [https://review.px4.io/plot\_app?log=7542396b-f163-4a2a-9446-4c4671a594e5](https://review.px4.io/plot_app?log=7542396b-f163-4a2a-9446-4c4671a594e5) From v1.5.4 to v1.7.0 is there a new EKF check where the system has to be in a certain arming\_state or in a certain nav\_state to find the correct solution? Also are you flying EAGLE’s? What version of BSP and qrlSDK add on are you on? ---
**Author:** ![geebd](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/9dc877/32.png) [@geebd](https://discuss.px4.io/u/geebd)\ **Post date:** [December 7, 2017, 5:20pm UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/6 "2017-12-07T17:20:54Z")
Another log just walking around outside. [https://review.px4.io/plot\_app?log=8681699f-a878-4be7-aeb9-2b6f86bb00a5](https://review.px4.io/plot_app?log=8681699f-a878-4be7-aeb9-2b6f86bb00a5). ---
**Author:** ![CarlOlsson](https://discuss.px4.io/user_avatar/discuss.px4.io/carlolsson/32/4175_2.png) [@CarlOlsson](https://discuss.px4.io/u/CarlOlsson)\ **Post date:** [December 8, 2017, 12:32am UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/7 "2017-12-08T00:32:35Z")
What kind of platform are you running px4 on? The sensor data looks very strange Here is a hand held test from a pixracer ![](https://discuss.px4.io/uploads/default/original/2X/2/20ccfd7c12b0ee935a3be7542efa79929347cf90.png) ![](https://discuss.px4.io/uploads/default/original/2X/4/4467ea43c07aa84912ed89dd555a27a87ed257c0.png) And here is one of your hand held logfiles ![](https://discuss.px4.io/uploads/default/original/2X/1/1f7220865467a90e068e482c3352fd86fa373ef4.png) ![](https://discuss.px4.io/uploads/default/original/2X/a/a6119d348c4182e4d10f36b734b28b4eff924cce.png) ---
**Author:** ![geebd](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/9dc877/32.png) [@geebd](https://discuss.px4.io/u/geebd)\ **Post date:** [December 11, 2017, 8:32pm UTC](https://discuss.px4.io/t/large-ekf-errors-with-sd-flight-and-v1-7-0-rc1/5064/8 "2017-12-11T20:32:00Z")
I think I’ve solved the EKF solution problem. Some of the modules were commented out. More specifically the navigator, dataman, land\_detector, mc\_control, and mc\_att, Do you know which modules directly affect the EKF? Good flight. [https://review.px4.io/plot\_app?log=63e36399-30ef-4c0d-bac4-37a29b75c7a7](https://review.px4.io/plot_app?log=63e36399-30ef-4c0d-bac4-37a29b75c7a7)