Attitude drift with bad GPS

Hello everyone.

I have some problems with arducopter (I'm using version 3.4). When I have any problems with GPS coordinates (bad signal, some buildings too close to copter, radio interference/jamming), copter attitude begins to drift badly.

At worst this situation causes crash, because attitude drift even in manual (stabilize) control mode.

How can I turn off this GPS => Attitude relation? If I set EKF_ENABLE=0 and AHRS_EKF_TYPE=0 attitude drift on the ground is gone, but I can't pass prearm/arm checks and can't fly.

Please, help me find a way to disable this feature.

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Shivchand Jaysaval liked Shivchand Jaysaval's profile
Aug 25