I have a hexacopter drone that has a diagonal wheelbase of 2.4 meters (propellers included).
In the first log below, it is a sudden and approximately 20 meters of shifting in the estimated position. While this happened, I was flying in position mode, so GPS was in use.
As you might realize, I’m also experiencing the toilet bowl effect in position mode. I made two test flights after tuning PIDs, drone hovers, and responds to my comments nice and accurately on altitude mode. However, when I switch to the position mode, it starts to rotate in growing circles. As you might guess this is pretty dangerous for a drone this size.
I’m thinking that this behavior is because of the GPS, I’m using Here3 as GPS and Pixhawk OrangeCube as flight controller. I will supply the logs of 2 test flights.
I suspect the position of the GPS. I am guessing that my GPS is interfering with the power lines below it. Also, it is pretty close to the OrangeCube. Do you think that this can cause the issue? Also, I have read that this also can happen because of the wrong heading angle of the GPS unit. But I have checked the orientation of the unit and it was looking correct. Please help if you have any suggestions.