2021-03-22, 07:51 PM
I agree. The problem is, this "failure of compass sensors only" with working gyro and accel is a new problem I have only seen recently so the code didn't handle this case correctly. It's still not clear if pypilot should shut down completely with lack of compass since as I mentioned gps+gyro or wind+gyro can make a working pilot which could be very useful in cases where the compass fails. It's just difficult because it could also fall back in this way if the magnetic field is too high, so in this case a different warning.