When my quadcopter is staying on a level surface I noticed that sometimes yaw angle is drifting, say about -0.1 degrees per second. I have a HMC 5843 magnetometer attached to oilpan by a 3.3V to 5V I2C translator (my HMC 5843 board does not have a built-in 3.3V regulator). Latest Arducopter software (r75) is loaded to the board.
What may cause this drift?
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Luckily our quadcopter was tied by thin ropes from arms that allow only a limited movement.
I recommend a ground check before flight without propellers and observe that throttle of front and back motors are not grater than right and left motors (or the opposite).
Best regards