Random beeps at run-time - hw faulty ? How to catch/investigate it ?

[alccrl]

Hi,

using inav 6.1.0 on a quad, but also with previous versions 5.1, I get once in a while beeps while quad is on or armed.

I guess is something related to i2c (magnetometer), but I am not sure.
Is there any way to investigate this ?
Bottom status bar is quite generic ...I see some increment in i2c errors ...
same for OSD status messages (no different status messages when beeps come) ...

Any idea is accepted.

Alfredo

PS (configuration):
inav 6.1.0 on 6" quad
Fc: SKYSTARS H743HD
+Gps
+Magnetometer
+Frsky OSD
+Vtx
+Cam
RC: Flysky fs-i6x with open-i6x 1.9.0 (ibus)

[alccrl]

More info ...:
exposed i2c bus for mag might have been damaged after repetitive soldering, fault of mine ...
I guess that baro is not affected, it shoud be on the other i2c bus (not exposed), I prototyped a Skystars H7 target for inav 5.1 and i2c buses seems to be different for baro and mag, so the "damage" (if any) should not affect altitude measurements.
Morover,
I think that inav has one only speed parameter, for all i2c buses, so I do not think it is worth to reduce i2c bus speed by configuration commands, altitude calculus might be affected also if mag read speed is reduced...

I could attach a pocket oscilloscope, too, but this would not solve the hw issue, if found.
In the meantime I disabled mag, I changed "Heading" in OSD into "Ground (gps) course)" that I never tried/tested before, but it should be more reliable anyway, vs mag...

I will be glad if someone corrects me, if I write incorrect assumptions.

Alfredo