Yeah, I'm hoping we can get around it with just a telemetry command (we've got two-way telemetry radios) to reset the EKF state. Full motor cutoff/checkpointin

Yeah, I'm hoping we can get around it with just a telemetry command (we've got two-way telemetry radios) to reset the EKF state. Full motor cutoff/checkpointing is a fun one. One thing I've found that seems to seems to exasperate the issue is picking it up when it's on the ground, adjusting a camera or something, and putting it back down on the ground. That's an almost guaranteed way to get a "high accelerometer bias" or "compass skew" error.