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world but these wide limits mean it’s more likely the compass calibration has not calculated good
offsets and should be repeated.
Compasses inconsistent: the internal and external compasses are pointing in different directions
(off by >45 degrees). This is normally caused by the external compasses orientation (i.e.
COMPASS_ORIENT parameter) being set incorrectly.
GPS related failures:
GPS Glitch : the GPS is glitching and the vehicle is in a flight mode that requires GPS (i.e. Loiter,
PosHold, etc) and/or the circular fence is enabled.
Need 3D Fix : the GPS does not have a 3D fix and the vehicle is in a flight mode that requires the
GPS and/or the circular fence is enabled.
Bad Velocity: the vehicle’s velocity (according to inertial navigation system) is above 50cm/s.
Issues that could lead to this include the vehicle actually moving or being dropped, bad
accelerometer calibration, GPS updating at below the expected 5hz.
High GPS HDOP : the GPS’s HDOP value (a measure of the position accuracy) is above 2.0 and the
vehicle is in a flight mode that requires GPS and/or the circular fence is enabled. This may be
resolved by simply waiting a few minutes, moving to a location with a better view of the sky or
checking sources of GPS interference (i.e. FPV equipment) are moved further from the GPS.
Alternatively, the check can be relaxed by increasing the GPS_HDOP_GOOD parameter to 2.2 or 2.5.
Worst case the pilot may disable the fence and take-off in a mode that does not require the GPS (i.e.
Stabilize, AltHold) and switch into Loiter after arming but this is not recommended.
Note: the GPS HDOP can be readily viewed through the Mission Planner’s Quick tab as shown
below.
INS checks (i.e. Accelerometer and Gyro checks):
INS not calibrated: some or all of the accelerometer’s offsets are zero. The accelerometers need to
be calibrated.
Accels not healthy: one of the accelerometers is reporting it is not healthy which could be a
hardware issue. This can also occur immediately after a firmware update before the board has been
restarted.
Accels inconsistent: the accelerometers are reporting accelerations which are different by at least
1m/s/s. The accelerometers need to be re-calibrated or there is a hardware issue.
Gyros not healthy: one of the gyroscopes is reporting it is unhealthy which is likely a hardware issue.
This can also occur immediately after a firmware update before the board has been restarted.
Gyro cal failed: the gyro calibration failed to capture offsets. This is most often caused by the
vehicle being moved during the gyro calibration (when red and blue lights are flashing) in which
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