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Slow rotation around z axis even staying on a table

Hi!

I’ve noticed that even if Brov2 is staying on my table it “rotates” around z axis. Here is a graph of our last dive:

I’m pretty sure robot was all the time perpendicular to the flat wall. But, as you see, it recognizes itself as a slowly spinning being :slight_smile:

  1. All calibrations are successful (green), magnetometer readings are good.
  2. EKF flags for attitude is good all the time.
  3. Stock firmware.

I’d be so grateful if anybody suggests what can cause such a weird behavior!

BR, Alex

Hi @slovak194,

Can you set the default parameters ?
You can check how here: https://www.ardusub.com/operators-manual/parameters.html