I have Pixhawk 2.4.8 otopilot with ArduSub_V3.5. 4 firmware installed on a custom ROV. The problem (figure below) is that yaw (ATT.Yaw) info displayed on QGroundControl_v3.5.3 switches between EKF primary (NKF1.Yaw) and secondary (NKF6.Yaw) solutions, when the vehicle is stationary. Also, EKF secon…

Yaw Drift due to increase of EKF_GYRO_BIAS estimation

slovak194 (Oleksandr Slovak) December 4, 2019, 1:59pm 2

Hi, I’ve reported similar issue here: Slow rotation around z axis even staying on a table - #2 by patrickelectric
Have you found a solution to that problem?

BR,
Alex

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