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iNav 6.1 fixed wing cruise navPos[2] jumps #9311

@helicocrasher

Description

@helicocrasher

Current Behavior

I have observed two strange things with iNav 6.1 on two of my flying wings.

  1. At some occasions in cruise mode the vario is showning constant sink of ~1m/s (wrongly) and the height is staying constant (as expected).
  2. Somtimes in cruisemode the OSD shows a very brief jump in height +10 or 20 meters. The NavPos{2} in blackbox is also showing these jumps. Baro and GPs height do not have this jumps
    As a consequnce the plane is immedately throttling down to correct for the perceived height error.

Steps to Reproduce

I have recently pulled 11 blackbox logs from one of my wings. 9 logs do not show this behavior, 2 logs show it.
I do not recall to have made changes to the settings of that plane.
So I have no idea how to reproduce or provoke the behavior.

Expected behavior

  1. Some fluctuation of the Vario OSD readings is ok in cruise but a permanent offset when keeping the height is not Ok.
  2. No height jumps that disturbe the cruise.

Suggested solution(s)

Additional context


https://pastebin.com/z1WiXAE0

  • FC Board name and vendor:
  • INAV version string:
    version
    INAV/MATEKF405TE 6.1.0 May 11 2023 / 13:05:49 (d6ce6e7)
    GCC-10.2.1 20201103 (release)

grafik

grafik

other example other plane

grafik

https://www.dropbox.com/scl/fi/30ggfsc8ku6nsjt47tjvu/blackbox_log_2023-09-16_134612.TXT?rlkey=1dbzjd9tfkw272ank2immbtea&dl=0

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