Pixhawk, Arduplane 3.2.2.
Hello guys,
having a problem to make EKF to work.
As soon as I put the EKF_ENABLE 1, the massage "BAD AHRS" appears on my Mission Planner screen. I couldn't find any similar topic on other forums so you're my last chance =)
I thought that it's might be a hardware problem, but both of my Pixhawks acts the same. The IMU pin legs connections on PCB are also look fine. All the initial calibration were made.
I also had an idea that it might be a wrong EKF_ or AHRS_ parameters problem, but I varied them without any successful result.
Both IMU seems to work according to log file. But most of EKF'1-4' logs shows zeros. Since it was recorded indoor so I turned off the "AHRS_GPS_USE 0", but even with its on and outdoor the result is the same - "Bad AHRS"
I also noticed that INS_PRODUCT_ID turns to "0", saying that IMU is unknown, but not 5 as it should be for Pixhawk.
Please help, I spent the 2 days solving this problem without any results!
Here are the Parameters and Logs.
Hello guys,
having a problem to make EKF to work.
As soon as I put the EKF_ENABLE 1, the massage "BAD AHRS" appears on my Mission Planner screen. I couldn't find any similar topic on other forums so you're my last chance =)
I thought that it's might be a hardware problem, but both of my Pixhawks acts the same. The IMU pin legs connections on PCB are also look fine. All the initial calibration were made.
I also had an idea that it might be a wrong EKF_ or AHRS_ parameters problem, but I varied them without any successful result.
Both IMU seems to work according to log file. But most of EKF'1-4' logs shows zeros. Since it was recorded indoor so I turned off the "AHRS_GPS_USE 0", but even with its on and outdoor the result is the same - "Bad AHRS"
I also noticed that INS_PRODUCT_ID turns to "0", saying that IMU is unknown, but not 5 as it should be for Pixhawk.
Please help, I spent the 2 days solving this problem without any results!
Here are the Parameters and Logs.
Replies
2. you're GPS probably has a compass/Magnetometer in addition to the one built in your board.
so you need to turn off one of them because you're probably getting 2 different values which creates an error.
in the setup, go to mandatory hardware, click on compass calibration and uncheck the other compasses. then do the calibration.
follow this
Thank you so much for the answer.
ice-o-l8 said:
BAD AHRS SOLVED.
Mission Planner,
' Flight Data '
' Pre Flight ' tab,
(far right) click ' Edit ',
change ' GPS Status ' ' {value} >= 3 ' from ' 3 ' to ' 1 ',
or ' 2 ' if you have two gps'.
' SAVE '
Now ' Verify GPS ' will turn green on ' Pre Flight Check List '
" BAD AHRS " SOLVED.
You're welcome ;D
I'm still in the process to understand how everything works, and I'm stuck with my RC controller. I've bought the Spektrum DX6i controller but I don't know how to connect it to my apm board (see picture). It must be something very simple but I could find the answer on the web or on youtube. https://reviewsdash.net/best-fishing-drones/
Gus
I also have this problem. However I can arm by disabling the INS bit in parameter ARMING_CHECK.
Andrew
Gus said:
Hi Gus - are you flying copter or plane? If copter - you need a compass - then you just need to make sure everything is calibrated and take it outside- the AHRS error should disappear. With plane (with all compasses disabled), you'll still have the error on the ground outside, but just ignore it.
Cheers
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