Slow rotation around z axis even staying on a table

Blue Robotics Software
3

Hi, Patrick!

Thanks for the suggestion, but it seems to be no such option in QGcontrol (Ardupilot can't reset parameters to defaults · Issue #7299 · mavlink/qgroundcontrol · GitHub). Is there another way to reset parameters to their default values?
I’ve used ardupilot/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params from the ardupilot repository to do the test:

  1. Flash Sub 3.6 firmware.
  2. Load parameters from file.
  3. Reboot vehicle (on my table)
  4. Wait for the EKF to init.
  5. Rotate vehicle just a little.

As you see, there is a long drift heading even if the vehicle is staying still. Magnetometer readings are perfectly flat with no slope. But yaw is drifting significantly. Please, suggest how to deal with that. Many thanks!

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PS:
Similar issue is reported here: Yaw Drift due to increase of EKF_GYRO_BIAS estimation with no answer.

BR, Alex