in "Flight Config UI" flight Yaw constantly changing.

[mmmmss1981]

Hello Everyone.

I am a noob so please forgive me if this question is already answered and feel free to delete the post.

I have setup a flight controller myself per the website http://goo.gl/XxiU97
I would not expect you to go through the website and find out what I did. I will try to list it out.

Hardware
------------
Arduino Pro Mini 5V 16MHz.
GY521 MPU6050 Acc/Gyro
No other hardware is connected as of yet including the receiver.
These two connected each other as "A4<>SDA" and A5 <> "SCL".
Power up the Arduino Pro mini/gy521 MPU6050 using the 5V output from the serial device FTDI chip. Screen print is here https://goo.gl/T5qRj2

The changes done to the multiwii program v2.4 MULTIWII software are listed below
1)Enable QUADX mode
2)Enabled GY521 MPU6050
7). UPLOAD!

Multiwii Config UI is used to see the data coming in from MPU 6050 (The flight controller is is on the table steady and untouched).
1)Gyro data seems to be settled on (0,0,0) but the accelerator is constantly changing. Screen print is here https://db.tt/LSt4XDmU
2)Yaw is constantly changing in the clockwise direction.

Could you please tell me why the Yaw is not stabilizing also give me a shout if you have questions.

Thanks,
M

[PatrikE]

Hi.
The acc fluctuation is normal.
You can enable some Low Pass Filter to get a cleaner output from the ACC.
ex. #define GYRO_LPF_98HZ or lower // 256 is default if nothing is enabled.

Yaw is drifting because I-term is building up when it's stationary.
It will correct itself when flying.

So add some LPF and go out and fly...

[mmmmss1981]

Found it. I didnt have a magnetometer integrated . Bummer.