"Yes I actually finished troubleshooting today and from the looks of it, it is the magnetometer. It starts to work, then sometimes it reports back 'not healthy' when doing test->compass in CLI. I've disconnected it and now I have…"
"hmm...i have no idea. I've spent a lot of time with the compass and APM and I've never seen what you're describing.
presumably erasing your eeprom doesn't help (start CLI, setup, reset)?
If that doesn't help, i'm…"
"U can ask, thats why we write here. ;)
If i let my apm a while on my desk, the yawing is less, but it dont stops. the groundcourse and the yaw are spinning. after a while more less, but they do.
and, if i disconnect the apm, and dont move my apm,…"
and you're saying that if you enable the mag, your yaw keeps changing and when you disable it it stops changing?! I think perhaps what you're seeing is the temprary correction to your heading as the APM…"
Compass is now enabled and tested in CLI. If i let my Copter stay on my desk, the values are staying too. if i move the copter about roll / pitch / yaw, the values are changing correct.
so my compass is okay, i think."
Just a guess but I expect your problem is not a change in the code but rather that the mag offsets were erased after you upgraded the code. This is normal but they should be recalculated and resaved if you…"
"When I run IMU from the CLI test (using 2.0.48 currently) I see:
Gyro offsets: -15.00, -34.00, 28.00
Accel offsets: 2.00, -15.00, 16.20
Hit enter to exit
-46, 47, 35810
and then the 35810 number just keeps slowly increasing."
"Damn, my usb connector just broke off, looks like im done testing for a bit unless I can get a small enough soldering iron to put this thing back on. I really really really want the new APM 2.0's to ship"
"You dont need a mag sensor to fly the arducopter... Its to compensate yaw drift in the long run. Duane's problem is his copter is unfly-able.
Do my a favor duane, in the cli, can you run an IMU test and verify that your yaw gyro is outputting…"
"Wait! You don't have a magnetometer? That creates a whole different situation. If my magnetometer is disabled, I get constant yaw drift no matter what I do. I'm surprised that you had the absence of yaw drift in the past.