Abrupt change of attitude (yaw channel) about inav HOT 5 OPEN

This is simply the yaw value wrapping around at the 360 degree point where it goes from 360 back to 0. This is normal. Unless you're saying the yaw rotation does something strange at this point ? It's not clear from your description.

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This is simply the yaw value wrapping around at the 360 degree point where it goes from 360 back to 0. This is normal. Unless you're saying the yaw rotation does something strange at this point ? It's not clear from your description.

It's normal for 360 to go to zero. In my case, 360 doesn't go to zero. And the most important thing is that after this transition the copter begins to turn around, this can be seen from the logs. The PIDs began to change, the ref yaw angle also began to change (graph below)
Logs here:
LOGS.zip

LOG00057 frame 0045000
LOG00055 frame 0052156
Absolute same behavior.

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OK I see what you mean. It flips from 356 to 106 ... a change of 250 degs in one log and from 260 to 106 degs again in the other log. This makes no sense at all. The log files also look a mess, broken up. Another H743 FC I note which might have something to do with it. Likely a hardware issue rather than a firmware bug.

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OK I see what you mean. It flips from 356 to 106 ... a change of 250 degs in one log and from 260 to 106 degs again in the other log. This makes no sense at all. The log files also look a mess, broken up. Another H743 FC I note which might have something to do with it. Likely a hardware issue rather than a firmware bug.

Okay, I got you. I'll check the flight controller.

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So, the continuation of the story. Several hours of experiments, bench and flight tests showed that the controller is working properly. The intermittent log is apparently the result of using a bad old flash card. Replaced it - everything became normal.
I also repeatedly recorded transitions through 360 degrees, everything was fine. But please note that the ALTHOLD mode was disabled. And the problems were when it was enabled.

I also recalibrated the accelerometer. There are questions here too. My flight controller setup have a non-zero pitch angle, but iNAV allows this. Could this be the source of the problem described above in combination with incorrect calibration of the accelerometer?

And I still don’t quite understand - how to correctly calibrate the accelerometer with a non-zero installation angle of the flight controller - before or after making a correction on the Alignment tab?

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