Hello, we’re currently testing with a new Navx2 that’s connected on a RIO 2 on a swervedrive, and we noticed that when we boot up, we’re getting random spikes in our navx yaw occasionally, making our swerve drive randomly change directions every so often with the yaw spikes aligning with the random movement changes, and we’ve tried swapping to a new navx and blowing out the navx port on the rio just in case there was debris.
How is your NavX mounted and powered?
It’s mounted directly on the rio with no external power. An ongoing theory is that maybe the can wires is interfering with the navx but we’re unsure.
Have you tried calibrating or checking if it’s running out of date firmware?
Someone much smarter than me could probably tell you about how likely that is but what I can say it’s probably possible and cleaning up those wires would be a good thing to try (and the wiring doesn’t benefit accessibility for debugging either). Give it a shot and try your luck…
If that doesn’t work, another thing about those NavX modules is that they can vibrate slightly since they aren’t really mounted to anything more than the pins. I’ve seen teams put VHB under it (make sure it doesn’t cover anything that could be pulled off the board such as a small capacitor or resistor) and you could see if that helps.
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Alright, I’ll try out those suggestions and I’ll see if anything changes when I get the chance.
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The Navx also comes with two holes in the PCB for it to screw into the Roborio for better mounting. I would recommend adding 2 screws to make sure it wiggles around a lot less.
Also, a little off-topic from your original post, but putting a cover on exposed electronics never hurts, and Kauailabs has some helpful instructions for getting an enclosure (3dp or buy)
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No idea how I forgot about those. Definitely easier than VHB 
We did have the screws on one navx that did have that issue, but we were frequently swapping navxs we didn’t bother to put them back on again.
Another issue we’re getting are constant navx reset messages within our console without even enabling or doing anything with the robot, the navx is just resetting by itself, along with random ShuffleBoard network tables disconnects.
The “navx-sensor reset detected” is indicative of the navx rebooting- typically by loss of power or pressing the reset button. Do you have another navx you could try to isolate a navx hardware issue?
Another option is to add USB power from the Rio to the NavX as this is recommended in case there is a brownout anyway.
We tried adding supplemental power by the rio usb and external power from laptop