Hello! We’ve been battling some EKF errors on our fleet of aircraft, and are trying to understand what is causing them. We have aircraft that will periodically throw prefilight fail: EKF Internal Checks, as well as EKF Accel high bias. A log of this can be found here, which starts at boot to capture the phenomenon. https://logs.px4.io/plot_app?log=b2e02342-da60-46e8-8e7f-df959aab8c55
Our aircraft is an octo 8, flying pixhawk cube, Here2 GPS. Our firmware is based on px4 1.7.3 release.
We’re looking to better understand the underlying events that can be throwing these errors, and I’m trying to track backwards in the EKF code from the point the error was thrown. Any guidance on debugging this or comments based on looking at the logs would be helpful! I have looked through all the flags that are set and using the EKF Python tool I can see where the innovations and tests exceed the thresholds. However I’m not clear on what is actually CAUSING that to be the case.
In most cases, the EKF preflight errors are periodic, and we can typically arm and fly with nothing unusual happening.
Any Guidance on how to track these down would be helpful.