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AHRS yaw drifting

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Last seen: 2 years 4 months ago
Joined: 2019-12-16 18:06
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AHRS yaw drifting

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?