Hey guys,
I just upgraded from Ardupilot v3.0.1 to Ardupilot v3.2.1-rc2 and got the "Bad Gyro Health" message, I calibrated everything, [Radio,Compass, Accel, etc] but the message is still there, I also checked the voltage regulator for 3.3v and it's all good, then I went back to v3.0.1 and everything is back to normal.
if config.h I saw this code:
// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
#define PREARM_MAX_GYRO_VECTOR_DIFF 0.35f // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.35 rad/sec (=20deg/sec)
#endif
Then I thought maybe erasing & resetting the APM would do the trick but I just can't figure out how to do it in v3.2.1 because CLI is disabled, so I went back to v3.0.1 and did it there, then I reloaded v3.2.1 and bingo that did it for me. I'll keep you posted if I get the message again.
You'll know the APM got reset if you hear your motors beeping on start, because you need to calibrate everything from scratch.
Replies