are you related to Phillippe Michaud by any chance? Army officer stationed in Germany in 1979
Our team is experiencing EXACTLY the same issue (same repro steps, same symptoms) as you describe here, with both our robots (both are Rev Control Hub that we bought in 2023).
We observed the exact same thing on the two Control Hubs we have! Maybe the weather got colder and dryer and it caused these ESD events to happen a lot more often. We never got issues like this one during the summer.
Hey so I’m having the same problem, did anyone ever figure out a solution? My Yaw stops reading after a bit of driving around, I’m using a grounding strap and the hub is not connected directly to anything conductive
To determine if this is an ESD problem, look in your logs. If towards the end of the log you see multiple repeated statements claiming an invalid “Quaternion” then the issue is highly likely ESD (one or two statements here and there is not uncommon, especially if the IMU is being used before it has finished initializing).
The recommended advice is to follow the guidance on ESD-protecting your robot. Remember that any electronics are paths for ESD shocks - sensors, motors (encoders especially), webcams, etc. You need to ensure all metal those electronics are near or touching are grounded by the strap.