[datapool]

I obserev something strange:

when I switch the Attitude Estimation Algo from Basic (Complementary) to GPS INS13, I see a change in static raw GyroState data. But without moving the quad?

Do I need to repeat the calibration procedure (for gyro) if a switch in the attitude estimation algo is done?

PLease see attached picture with the change of raw data when doing the switch.

[f5soh]

Try calibrating the Gyros.

Maintain frame still (do not touch) and go to Attitude > Calibration > Gyro Bias calibration > Start

[datapool]

Did a recalibrate. Strange observation. I see the gyrostate slowly moving back to zero after some time... I think no issue anymore. Thanks for your suggestion.