Hi, I just flashed the MK3 firmware to my MK3 (Trammpa), and the IMU plot shows the yaw drifting constantly. In the gyro plot, the offset is about 2 DPS for Z, and -1 DPS for X. It's odd that only the yaw is drifting, given the non-zero (and quite noticeable) bias for the gyro. I tried doing the "figure-8" calibration movement, in case the magnetometer needs to be calibrated for the AHRS use, but it doesn't seem to make a difference.
Does anybody know if the AHRS is supposed to self-calibrate and reject DC drift?