Thanks to @thien94 and everyone.
VISP.PZ data is rising after IMU.Accz data is dropped as shown in the analyzed log. The drone also climbed and found the velocity and position data displayed in red on the mission planner EK.
In my previous row, I checked the same phenomenon as the log when'EKF variance' and pos horiz / pos vert variance error occurred.
I updated my shared drive.
I uploaded 2 log and tlog and video at that time.
Sorry it's not a YouTube video.
Guided and RTL tests were also conducted in this test. Where the pattern is clear, although the reset_counter increases, the ekf data stabilizes. In the RTL test, an error occurred as soon as the RTL command was input, and the drone was vertically raised. (RTL_ALTITUDE is currently set at altitude. The loiter speed, ascent and descent speed were also adjusted.)
I will test again by applying a vibration tape or vibration reduction mount, but do you have any tips to improve the IMU accel.z acceleration range limiting performance by modifying the EKF parameters?
Thank you very much.
but do you have any tips to improve the IMU accel.z acceleration range limiting performance by modifying the EKF parameters?
If you are referring to the T265: it's a combination of hardware / software limitation from the T265's internal IMU /
librealsense configuration. As far as I know, the acceleration range is not configurable. On that part AP is not related.
If you are referring to the FCU's internal IMU, you can check out this wiki: https://ardupilot.org/dev/docs/extended-kalman-filter.html
@rmackay9 Thanks for the response, I had originally set the EK2_GPS_TYPE to 3 (no GPS), but that didnt seem to stop the warning....then when I did disable to GPS checks it seemed the SITL didnt know how to yaw anymore, but if I enabled back GPS it would yaw. (I would send a setpoint with a yaw delta relative to body to test)
Have you (or anyone) been able to run the sitl without GPS enabled lately? I am on version ArduCopter V4.1.0-dev (77e52362)
Maybe this is a 4.x+ issue? I am going to open an issue in the repo I guess...
Oddly, I just tried again with turning off the GPS and GPS checks again, and it seems to work now...I can yaw just fine now.
I had initially setup a test case where I enabled MAV gps and was converting local position ned to a gps point, and was injecting it back in to the AP using the HIL_GPS message...and that also worked...but now the proper way works...odd
Hi everyone. I am currently using RealSense t265 in combination with Nvidia TX2 (Auvidea j120 board) for precision landing on an AprilTag. There is currently a persistent issue with the camera starting to randomly spit NaNs for its odometry (camera_pose_frame). As a result, the transform can not be calculated. It never happens while the drone is in the air, however, when it is left on the ground stationary the issue arises. Restarting the camera node or unplugging the camera USB helps until the next randomly timed error. librealsense v2.36.0 is installed. Could be a faulty unit, however, I`ve seen other people having it with no clear solution to the problem.
If anyone had a similar issue, I`d appreciate any help, as well as provide any additional information.
Thanks in advance!