SOLVED: Yaw Drift with UM7

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Hello,

I am experiencing a vexing issue in that using the UM7 ROS driver, after a few minutes (~2) of running the yaw drifts at a seeming constant rate (I don't have enough points to upload an image to illustrate). I can use the reset service of the UM7 driver to reset the EKF, but then after awhile (~ 2 min) it starts to drift again.

The odd thing is that this seems to be a problem that is something to do with ROS UM7 driver. I can use the CH Windows interface and I don't see the issue - i.e, the yaw output is stable.

I am using Firmware U71D. I have calibrated the mag. with the CH Windows serial interface. I have experimented with different settings as suggested here: http://www.chrobotics.com/forums/topi... I have looked through the UM7 driver source code, but can't seem to find anything that would cause this. I have used the verified that the mag. updates are being used by the unit I have made sure to "flash commit" the configuration to the UM7 so that it is non-volatile.

Any help would be greatly appreciated. Brian

SOLUTION

As Stefan suggested, installing the U71C firmware seemed to fix the issue. Thank you!