An IMU keeps sending damaged data
What ArduPilot says:
- Internal errors 0x1000000 (imu_reset)
InvenSense IMUs (MPU6000, MPU9250, the ICM-206xx family) hand their readings over through a buffer. ArduPilot checks the temperature inside every sample: a sudden jump means the buffer's contents have slipped out of step, so it empties the buffer and starts again, losing those samples. Ten such resets, each within 10 seconds of the one before, are recorded as imu_reset. The gyro and accelerometer data the attitude control depends on is being thrown away again and again.
What to do, most likely first
Electrical noise or a weak supply reaches the IMU, usually when the motors run.
CheckDoes it appear only with the battery connected and the motors turning, not on USB alone? Look at POWR.Vcc in the log for dips.
FixFit a low-ESR capacitor at the ESC's battery pads, power the flight controller from a clean regulator, and keep power wires away from the board.
The IMU chip, or its solder joints, is failing.
CheckIt happens on USB power with nothing connected, or after a hard crash.
FixReplace the flight controller.
Do not fly with this error: it means the aircraft has already flown blind for moments at a time.
Where to do it:Setup & Tuning GuideBoard & Wiring Planner