Hello,
I have a SITL setup using my own 6DOF simulation over JSON/UDP for controlling a fixed-wing UAV. When setting the EKF to 10, I can fly the system manually, i can see the velocity vector is inconsistent but the air vehicle behaves good.However, when autonomous functions take over, the EKF and AHRS estimates become unstable, leading to erratic spinning and crashes.
Currently, I send minimal sensor data:
Position - NED
Velocity - NED
Accelerations - Body frame
Attitude Angles - euler angles - (Body to NED)
Angular rates - Euler (body to NED)
I do not send airspeed or other sensor inputs.
Are there additional data points required for EKF stability?
Has anyone faced similar instability when using SITL with an external 6DOF?
Any insights into improving EKF/AHRS stability would be greatly appreciated!