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!