Hello,
I'm testing the ArduCopter master branch of diydrones/ardupilot. I have several problems with EKF. Sometimes appears the failsafe "EKF variance", but the drone is on the floor without moving. I have read this documentation[1] but I think is outdated, because now EKF is force in ArduCopter and the parameter AHRS_EKF_USE is deprecated. I have change the parameter EKF_CHECK_THRESH to 0, 1 or 0,8 but I always have the same result. I can't use the GPS modes like GUIDED or AUTO.
I'm using HMC5843 compass, When I used this compass with the DCM all works fine, but now when the failsafe EKF variance appears the compass stop working (at least in APM Planner) because I can calibrate the compass and I have debugged the code and the values are received.
Anyone can explain how EKF is working or how I can configure my drone to use GPS mode?
Thanks in advance.