Hello, I have received the following warning several times recently: EKF3 lane switch 1 [ekferror] It happens when the BlueRov2 is armed, but I did not notice any dependence on e.g. flight mode (manual, depth hold or stabilize). ROV sensors are calibrated. The warning has no noticeable effect …

Hi @en_morty , [image] Marcin: I have received the following warning several times recently: EKF3 lane switch 1 As I understand it that’s a notification more than a warning - ArduPilot’s EKF3 Lane Switching documentation says the EKF runs an instance per IMU, and if one set of sensors is mis…

Thanks for response. [image] Eliot: It may be worth doing a sensor calibration - if the notification persists there may be something wrong with one of the sensors on your autopilot board. Ok, I will do it next time in the field.

@EliotBR Hello, I am having the same error. EKF3 Lane switch 1. Do you have a suggestion for a solution? EKF3 Lane switch is between 1 -0. I also get EKF2 IMU1 Forced reset error. Can you help me? [WhatsApp Image 2023-01-17 at 08.44.18]

Hi @Busrakck , welcome to the forum :slight_smile: I’ve merged your duplicate post into this thread to avoid spam. As above [image] Eliot: It may be worth doing a sensor calibration - if the notification persists there may be something wrong with one of the sensors on your autopilot board. I…

[image] Eliot: that the calibration was successful and high quality whether this issue is occurring consistently, and if so whether it happens when the vehicle is moving, or only when it’s still? We were getting this problem when Ekf3 was enabled. We were getting Ekf3 imu1/0 forced reset and…

Just a quick addition that we too are getting “EKF3 lane switch 0” and “EKF3 lane switch 1” when the vehicle is moving. Note that the vehicle sensors had been calibrated, though we went ahead and did them again. We (twice) received a “yellow” for the compass calibration. [IMG-3551]

Hi! After having same issue for years I have found a reson and a partial fix. Reson is Ardupilot that Ardusub works on has switched to work with EKF3. That is in this case more validation of sensor data like IMU, position input (USBL or Waterlinked) etc Working under water (Which most ROV do) th…

'EKF3 lane switch 1' warning when armed

Blue Robotics Software QGroundControl

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'EKF3 lane switch 1' warning when armed

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