[ifrit]

Hi

Couple of times i try to setup revo full not mini and gps(Neo6m) to work. Without any luck, for the first 20 minutes mag is always green then tur to yellow. Everytime the when i connect the hex the horizon and attitude freakout(?), see the video what i mean.

[f5soh]

The Attitude that move is normal, the EKF (ins13) uses all sensors so small changes in attitude can appears.
https://librepilot.atlassian.net/wiki/display/LPDOC/INS13+-+GPS+Navigation

Sometimes moving the frame can "unlock" the mag alarm and allow EKF initialization.
Complementary need a frame still for initialization, INS13 can be moved all time and can also reset in flight

How about Mag alarm while the motors are running ?

[ifrit]

Mag sometimes are yellow durning flight sometimes are green. But the problem when i flght is the "jumping" attitude on the air not only in pc via telemetry. I try position hold and vposition hold. I've got 12-13 sat sometimes and the board dont let me to arm my frame. Today i left the aircraft for 30min to full inicialization but that doesnt help. All wire twisted, all calibration is god, hex without gps and poshold or similar fly rock solid. But its god to have position hold or rth. I calibrate mag in the moddle of field(aproxypetli 15-20 footbal field) no hight voltage tover or similar stuff, i use oplink for that not usb cord.

[f5soh]

Prerequisites for ekf initialization / arming are:
- > 7sats
- Pdop < 3.5
- no alarm

[ifrit]

I have min 9 sat so that's not he problem. Where i can find pdop? I know it relatoed do gps but where i can check that?
Recorded altitude from firmware tab

[f5soh]

Like you say, DOP is related to GPS.
Go to System tab, you can find the GPS plugin display.


Nothing wrong with your altitude.

[ifrit]

PDOP 2.05 9 sat and the level/horazon is of now and my hex flip off on takeoff, i level it again and its the same. Where i can find INS13 status? Without INS13 using only baro altitude hold works almost perfect in strong wind(25km/h).

[f5soh]

So if you can't arm, there is some alarm... usually a Mag alarm.

status can be found where you see the PFD with a big red cross.

[ifrit]

I can arm it but on take off hex flips instantly,no alarm gps green 9sat mag green all the time.

[f5soh]

Post your config file and a picture for how you mounted the board

[ifrit]

[f5soh]

This setup worked at some point ?
If not, double check the props used and if they spin the right way for every motor (CCW / CW)
you can use the test option in Output tab (without props...)

Also consider add some adhesive foam bello board case, with vibrations the Attitude estimation can be completely wrong.
Add some filtering : Attitude > filter Acc with some value around 0.05 or more.

[ifrit]

Hex fly prefect without INS13. Usung only baro(complementary) stay on altitude almost perfect but when i change to INS13 the horizon act wird. Under the board case i use doublesided foam tape.

[f5soh]

I already answered for the attitude issue, looks normal.

Add filtering and some foam to isolate from vibrations.
Are you sure the Mag still good while you put motors on with props ?
Your board is mounted on pcb where there is high currents...

[ifrit]

The pcb trace is araund the plate, if i use a separate pdb and use wire araund the frame will be the same. The atitude hold works perfect the only problem is horizon. Mag stay all the time green sometimes for a 0.5s orange never red or black. I try addind filtering in at tab 0.01 then 0.02 and so on.