From the WIKI:
EKF / DCM Check Failsafe
Copter 3.2 adds a DCM heading check and an EKF (Extended Kalman Filter - Pixhawk only) check to catch flyaways caused by a bad heading estimate......
I received two errors simultaneously in my log. ERR: EKF_CHECK-2 and EKF_CHECK-0
Pixhawk only? Why am I seeing them from my APM 3.1?
I am having problems because the WIKI does not match actual data in the mission planner. The parameter "AHRS_EKF_USE" does not exist in my version. Here is a photo of a search for EKF:
I made another flight today. In that flight I completed "Auto Trim" and "Auto Tune". I engaged RTL and my quad began to fly away in the opposite direction of "home" that should have be established when I armed the quad (correct?)
I brought the quad back and tried RTL again and it took off in the same direction it had on the first try.
When I attempt to review the log (I have very little experience with this!) I see several EKF errors. I am VERY nervous about putting my expensive 650 class into the air for fear it will fly off as some people have reported with EKF errors.
I have read here: http://ardupilot.org/copter/docs/ekf-inav-failsafe.html
and looks like the developers have put alot of work into this system but what some of the docs say is I don't have this feature on ArduCopter V3.2.1 (36b405fb) loaded on an APM 3.1
I have attached the .log file for the first and second flights as well as the .bin for the second
Please help! as I would like to fly and enjoy my quad.
Keshka
Replies
That error is just mislabeled in your version of the firmware. It should have read DCM error which you do have.
My guess is that you have the GPS compass mounted backwards and instead of flying toward home it flies in the opposite direction which is a problem.
Logging on this version of the auto pilot does not provide enough information so you will have to change it to a higher value and try it again.
http://ardupilot.org/copter/docs/common-downloading-and-analyzing-d...