I am trying to hovering my drone in gazebo using orb slam2.
the slam pose value and local_position/pose value are created well.
However, it cant maintain its posture at 0,0.
Do you have any idea what is the problem?
we used GUIDED MODE at ardupilot and use arm throttle & takeoff 2 command
this is slam picture
this is pose rviz picture
drone cant hovering
You need to use ArduCopter 4.1.0-dev version for that. You need to use EKF3 and have it properly configured.
You need to post your parameter file otherwise we can not guess how you configured your system!
now i use ArduCopter 4.1.0-dev.
but I tried to use EKF3 before, but the home position set is still rejected.
This is my parameter file.
1 1 ACRO_BAL_PITCH 1.000000000000000000 9
1 1 ACRO_BAL_ROLL 1.000000000000000000 9
1 1 ACRO_OPTIONS 0 2
1 1 ACRO_RP_EXPO 0.300000011920928955 9
1 1 ACRO_RP_P 4.500000000000000000 9
1 1 ACRO_THR_MID 0.000000000000000000 9
1 1 ACRO_TRAINER 2 2
1 1 ACRO_YAW_P 4.500000000000000000 9
1 1 ACRO_Y_EXPO 0.000000000000000000 9
1 1 ADSB_TYPE 0 2
1 1 AHRS_COMP_BETA 0.100000001490116119 9
1 1 AHRS_CUSTOM_PIT 0.000000000000000000 9
1 1 AHRS_CUSTOM_ROLL 0.000000000000000000 9
1 1 AHRS_CUSTOM_YAW 0.000000000000000000 9
1 1 AHRS_EKF_TYPE 2 2
1 1 AHRS_GPS_GAIN 1.000000000000000000 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.200000002980232239 9
1 1 AHRS_TRIM_X 0.000000000000000000 9
1 1 AHRS_TRIM_Y 0.000000000000000000 9
1 1 AHRS_TRIM_Z 0.000000000000000000 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.200000002980232239 9
1 1 ANGLE_MAX 4500 4
1 1 ARMING_ACCTHRESH 0.750000000000000000 9
1 1 ARMING_CHECK 0 6
1 1 ARMING_MIS_ITEMS 0 6
1 1 ARMING_RUDDER 2 2
1 1 ATC_ACCEL_P_MAX 110000.000000000000000000 9
1 1 ATC_ACCEL_R_MAX 110000.000000000000000000 9
1 1 ATC_ACCEL_Y_MAX 27000.000000000000000000 9
1 1 ATC_ANGLE_BOOST 1 2
1 1 ATC_ANG_LIM_TC 1.000000000000000000 9
1 1 ATC_ANG_PIT_P 4.500000000000000000 9
1 1 ATC_ANG_RLL_P 4.500000000000000000 9
1 1 ATC_ANG_YAW_P 4.500000000000000000 9
1 1 ATC_INPUT_TC 0.150000005960464478 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_RATE_P_MAX 0.000000000000000000 9
1 1 ATC_RATE_R_MAX 0.000000000000000000 9
1 1 ATC_RATE_Y_MAX 0.000000000000000000 9
1 1 ATC_RAT_PIT_D 0.003599999938160181 9
1 1 ATC_RAT_PIT_FF 0.000000000000000000 9
1 1 ATC_RAT_PIT_FLTD 20.000000000000000000 9
1 1 ATC_RAT_PIT_FLTE 0.000000000000000000 9
1 1 ATC_RAT_PIT_FLTT 20.000000000000000000 9
1 1 ATC_RAT_PIT_I 0.135000005364418030 9
1 1 ATC_RAT_PIT_IMAX 0.500000000000000000 9
1 1 ATC_RAT_PIT_P 0.135000005364418030 9
1 1 ATC_RAT_PIT_SMAX 0.000000000000000000 9
1 1 ATC_RAT_RLL_D 0.003599999938160181 9
1 1 ATC_RAT_RLL_FF 0.000000000000000000 9
1 1 ATC_RAT_RLL_FLTD 20.000000000000000000 9
1 1 ATC_RAT_RLL_FLTE 0.000000000000000000 9
1 1 ATC_RAT_RLL_FLTT 20.000000000000000000 9
1 1 ATC_RAT_RLL_I 0.135000005364418030 9
1 1 ATC_RAT_RLL_IMAX 0.500000000000000000 9
1 1 ATC_RAT_RLL_P 0.135000005364418030 9
1 1 ATC_RAT_RLL_SMAX 0.000000000000000000 9
1 1 ATC_RAT_YAW_D 0.000000000000000000 9
1 1 ATC_RAT_YAW_FF 0.000000000000000000 9
1 1 ATC_RAT_YAW_FLTD 0.000000000000000000 9
1 1 ATC_RAT_YAW_FLTE 2.500000000000000000 9
1 1 ATC_RAT_YAW_FLTT 20.000000000000000000 9
1 1 ATC_RAT_YAW_I 0.017999999225139618 9
1 1 ATC_RAT_YAW_IMAX 0.500000000000000000 9
1 1 ATC_RAT_YAW_P 0.180000007152557373 9
1 1 ATC_RAT_YAW_SMAX 0.000000000000000000 9
1 1 ATC_SLEW_YAW 6000.000000000000000000 9
1 1 ATC_THR_MIX_MAN 0.100000001490116119 9
1 1 ATC_THR_MIX_MAX 0.500000000000000000 9
1 1 ATC_THR_MIX_MIN 0.100000001490116119 9
1 1 AUTOTUNE_AGGR 0.100000001490116119 9
1 1 AUTOTUNE_AXES 7 2
1 1 AUTOTUNE_MIN_D 0.001000000047497451 9
1 1 AUTO_OPTIONS 0 6
1 1 AVD_ENABLE 0 2
1 1 AVOID_ANGLE_MAX 1000 4
1 1 AVOID_BACKUP_SPD 0.500000000000000000 9
1 1 AVOID_BEHAVE 0 2
1 1 AVOID_DIST_MAX 5.000000000000000000 9
1 1 AVOID_ENABLE 3 2
1 1 AVOID_MARGIN 2.000000000000000000 9
1 1 BARO1_DEVID 65540 6
1 1 BARO1_GND_PRESS 94501.328125000000000000 9
1 1 BARO1_WCF_ENABLE 0 2
1 1 BARO2_DEVID 65796 6
1 1 BARO2_GND_PRESS 94501.429687500000000000 9
1 1 BARO2_WCF_ENABLE 0 2
1 1 BARO3_DEVID 0 6
1 1 BARO3_GND_PRESS 0.000000000000000000 9
1 1 BARO3_WCF_ENABLE 0 2
1 1 BARO_ALT_OFFSET 0.000000000000000000 9
1 1 BARO_EXT_BUS -1 2
1 1 BARO_FLTR_RNG 0 2
1 1 BARO_GND_TEMP 0.000000000000000000 9
1 1 BARO_PRIMARY 0 2
1 1 BARO_PROBE_EXT 0 6
1 1 BATT2_MONITOR 0 2
1 1 BATT3_MONITOR 0 2
1 1 BATT4_MONITOR 0 2
1 1 BATT5_MONITOR 0 2
1 1 BATT6_MONITOR 0 2
1 1 BATT7_MONITOR 0 2
1 1 BATT8_MONITOR 0 2
1 1 BATT9_MONITOR 0 2
1 1 BATT_AMP_OFFSET 0.000000000000000000 9
1 1 BATT_AMP_PERVLT 17.000000000000000000 9
1 1 BATT_ARM_MAH 0 6
1 1 BATT_ARM_VOLT 0.000000000000000000 9
1 1 BATT_BUS 0 2
1 1 BATT_CAPACITY 3300 6
1 1 BATT_CRT_MAH 0.000000000000000000 9
1 1 BATT_CRT_VOLT 0.000000000000000000 9
1 1 BATT_CURR_PIN 12 2
1 1 BATT_FS_CRT_ACT 0 2
1 1 BATT_FS_LOW_ACT 0 2
1 1 BATT_FS_VOLTSRC 0 2
1 1 BATT_LOW_MAH 0.000000000000000000 9
1 1 BATT_LOW_TIMER 10 2
1 1 BATT_LOW_VOLT 10.500000000000000000 9
1 1 BATT_MONITOR 4 2
1 1 BATT_OPTIONS 0 6
1 1 BATT_SERIAL_NUM -1 6
1 1 BATT_VOLT_MULT 10.100000381469726563 9
1 1 BATT_VOLT_PIN 13 2
1 1 BCN_ALT 0.000000000000000000 9
1 1 BCN_LATITUDE 0.000000000000000000 9
1 1 BCN_LONGITUDE 0.000000000000000000 9
1 1 BCN_ORIENT_YAW 0 4
1 1 BCN_TYPE 0 2
1 1 BRD_ALT_CONFIG 0 2
1 1 BRD_BOOT_DELAY 0 4
1 1 BRD_OPTIONS 0 6
1 1 BRD_PWM_COUNT 8 2
1 1 BRD_RTC_TYPES 1 2
1 1 BRD_RTC_TZ_MIN 0 4
1 1 BRD_SAFETYOPTION 3 4
1 1 BRD_SERIAL_NUM 0 4
1 1 BRD_VBUS_MIN 4.300000190734863281 9
1 1 BRD_VSERVO_MIN 0.000000000000000000 9
1 1 BTN_ENABLE 0 2
1 1 CAM_AUTO_ONLY 0 2
1 1 CAM_DURATION 10 2
1 1 CAM_FEEDBACK_PIN -1 2
1 1 CAM_FEEDBACK_POL 1 2
1 1 CAM_MAX_ROLL 0 4
1 1 CAM_MIN_INTERVAL 0 4
1 1 CAM_RC_TYPE 0 2
1 1 CAM_RELAY_ON 1 2
1 1 CAM_SERVO_OFF 1100 4
1 1 CAM_SERVO_ON 1300 4
1 1 CAM_TRIGG_DIST 0.000000000000000000 9
1 1 CAM_TRIGG_TYPE 0 2
1 1 CAM_TYPE 0 2
1 1 CAN_D1_PROTOCOL 1 2
1 1 CAN_D2_PROTOCOL 1 2
1 1 CAN_LOGLEVEL 0 2
1 1 CAN_P1_DRIVER 0 2
1 1 CAN_P2_DRIVER 0 2
1 1 CAN_SLCAN_CPORT 0 2
1 1 CAN_SLCAN_SDELAY 1 2
1 1 CAN_SLCAN_SERNUM -1 2
1 1 CAN_SLCAN_TIMOUT 0 2
1 1 CHUTE_ENABLED 0 2
1 1 CIRCLE_OPTIONS 1 4
1 1 CIRCLE_RADIUS 1000.000000000000000000 9
1 1 CIRCLE_RATE 20.000000000000000000 9
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_AUTO_ROT 2 2
1 1 COMPASS_CAL_FIT 16.000000000000000000 9
1 1 COMPASS_CUS_PIT 0.000000000000000000 9
1 1 COMPASS_CUS_ROLL 0.000000000000000000 9
1 1 COMPASS_CUS_YAW 0.000000000000000000 9
1 1 COMPASS_DEC 0.000000000000000000 9
1 1 COMPASS_DEV_ID 97539 6
1 1 COMPASS_DEV_ID2 131874 6
1 1 COMPASS_DEV_ID3 263178 6
1 1 COMPASS_DEV_ID4 97283 6
1 1 COMPASS_DEV_ID5 97795 6
1 1 COMPASS_DEV_ID6 98051 6
1 1 COMPASS_DEV_ID7 983044 6
1 1 COMPASS_DEV_ID8 0 6
1 1 COMPASS_DIA2_X 1.000000000000000000 9
1 1 COMPASS_DIA2_Y 1.000000000000000000 9
1 1 COMPASS_DIA2_Z 1.000000000000000000 9
1 1 COMPASS_DIA3_X 1.000000000000000000 9
1 1 COMPASS_DIA3_Y 1.000000000000000000 9
1 1 COMPASS_DIA3_Z 1.000000000000000000 9
1 1 COMPASS_DIA_X 1.000000000000000000 9
1 1 COMPASS_DIA_Y 1.000000000000000000 9
1 1 COMPASS_DIA_Z 1.000000000000000000 9
1 1 COMPASS_ENABLE 1 2
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 1 2
1 1 COMPASS_FLTR_RNG 0 2
1 1 COMPASS_LEARN 0 2
1 1 COMPASS_MOT2_X 0.000000000000000000 9
1 1 COMPASS_MOT2_Y 0.000000000000000000 9
1 1 COMPASS_MOT2_Z 0.000000000000000000 9
1 1 COMPASS_MOT3_X 0.000000000000000000 9
1 1 COMPASS_MOT3_Y 0.000000000000000000 9
1 1 COMPASS_MOT3_Z 0.000000000000000000 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0.000000000000000000 9
1 1 COMPASS_MOT_Y 0.000000000000000000 9
1 1 COMPASS_MOT_Z 0.000000000000000000 9
1 1 COMPASS_ODI2_X 0.000000000000000000 9
1 1 COMPASS_ODI2_Y 0.000000000000000000 9
1 1 COMPASS_ODI2_Z 0.000000000000000000 9
1 1 COMPASS_ODI3_X 0.000000000000000000 9
1 1 COMPASS_ODI3_Y 0.000000000000000000 9
1 1 COMPASS_ODI3_Z 0.000000000000000000 9
1 1 COMPASS_ODI_X 0.000000000000000000 9
1 1 COMPASS_ODI_Y 0.000000000000000000 9
1 1 COMPASS_ODI_Z 0.000000000000000000 9
1 1 COMPASS_OFFS_MAX 1800 4
1 1 COMPASS_OFS2_X 5.000000000000000000 9
1 1 COMPASS_OFS2_Y 13.000000000000000000 9
1 1 COMPASS_OFS2_Z -18.000000000000000000 9
1 1 COMPASS_OFS3_X 5.000000000000000000 9
1 1 COMPASS_OFS3_Y 13.000000000000000000 9
1 1 COMPASS_OFS3_Z -18.000000000000000000 9
1 1 COMPASS_OFS_X 5.000000000000000000 9
1 1 COMPASS_OFS_Y 13.000000000000000000 9
1 1 COMPASS_OFS_Z -18.000000000000000000 9
1 1 COMPASS_OPTIONS 0 4
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PMOT_EN 0 2
1 1 COMPASS_PRIO1_ID 97539 6
1 1 COMPASS_PRIO2_ID 131874 6
1 1 COMPASS_PRIO3_ID 263178 6
1 1 COMPASS_SCALE 1.000000000000000000 9
1 1 COMPASS_SCALE2 1.000000000000000000 9
1 1 COMPASS_SCALE3 1.000000000000000000 9
1 1 COMPASS_TYPEMASK 0 6
1 1 COMPASS_USE 0 2
1 1 COMPASS_USE2 0 2
1 1 COMPASS_USE3 0 2
1 1 DEV_OPTIONS 0 6
1 1 DISARM_DELAY 10 2
1 1 EAHRS_TYPE 0 2
1 1 EK2_ABIAS_P_NSE 0.004999999888241291 9
1 1 EK2_ACC_P_NSE 0.600000023841857910 9
1 1 EK2_ALT_M_NSE 3.000000000000000000 9
1 1 EK2_ALT_SOURCE 0 2
1 1 EK2_BCN_DELAY 50 2
1 1 EK2_BCN_I_GTE 500 4
1 1 EK2_BCN_M_NSE 1.000000000000000000 9
1 1 EK2_CHECK_SCALE 100 4
1 1 EK2_EAS_I_GATE 400 4
1 1 EK2_EAS_M_NSE 1.399999976158142090 9
1 1 EK2_ENABLE 1 2
1 1 EK2_FLOW_DELAY 10 2
1 1 EK2_FLOW_I_GATE 300 4
1 1 EK2_FLOW_M_NSE 0.250000000000000000 9
1 1 EK2_FLOW_USE 1 2
1 1 EK2_GBIAS_P_NSE 0.000099999997473788 9
1 1 EK2_GLITCH_RAD 25 2
1 1 EK2_GPS_CHECK 31 2
1 1 EK2_GPS_TYPE 3 2
1 1 EK2_GSCL_P_NSE 0.000500000023748726 9
1 1 EK2_GSF_DELAY 1000 4
1 1 EK2_GSF_RST_MAX 2 2
1 1 EK2_GSF_RUN_MASK 3 2
1 1 EK2_GSF_USE_MASK 3 2
1 1 EK2_GYRO_P_NSE 0.029999999329447746 9
1 1 EK2_HGT_DELAY 60 4
1 1 EK2_HGT_I_GATE 500 4
1 1 EK2_HRT_FILT 2.000000000000000000 9
1 1 EK2_IMU_MASK 3 2
1 1 EK2_MAGB_P_NSE 0.000099999997473788 9
1 1 EK2_MAGE_P_NSE 0.001000000047497451 9
1 1 EK2_MAG_CAL 3 2
1 1 EK2_MAG_EF_LIM 50 4
1 1 EK2_MAG_I_GATE 300 4
1 1 EK2_MAG_MASK 0 2
1 1 EK2_MAG_M_NSE 0.050000000745058060 9
1 1 EK2_MAX_FLOW 2.500000000000000000 9
1 1 EK2_NOAID_M_NSE 0.500000000000000000 9
1 1 EK2_OGN_HGT_MASK 0 2
1 1 EK2_POSNE_M_NSE 0.100000001490116119 9
1 1 EK2_POS_I_GATE 500 4
1 1 EK2_RNG_I_GATE 500 4
1 1 EK2_RNG_M_NSE 0.500000000000000000 9
1 1 EK2_RNG_USE_HGT -1 2
1 1 EK2_RNG_USE_SPD 2.000000000000000000 9
1 1 EK2_TAU_OUTPUT 25 2
1 1 EK2_TERR_GRAD 0.100000001490116119 9
1 1 EK2_VELD_M_NSE 0.100000001490116119 9
1 1 EK2_VELNE_M_NSE 0.100000001490116119 9
1 1 EK2_VEL_I_GATE 500 4
1 1 EK2_WIND_PSCALE 0.500000000000000000 9
1 1 EK2_WIND_P_NSE 0.100000001490116119 9
1 1 EK2_YAW_I_GATE 300 4
1 1 EK2_YAW_M_NSE 0.500000000000000000 9
1 1 EK3_ENABLE 0 2
1 1 ESC_CALIBRATION 0 2
1 1 FENCE_ACTION 1 2
1 1 FENCE_ALT_MAX 100.000000000000000000 9
1 1 FENCE_ENABLE 0 2
1 1 FENCE_MARGIN 2.000000000000000000 9
1 1 FENCE_RADIUS 150.000000000000000000 9
1 1 FENCE_TOTAL 0 2
1 1 FENCE_TYPE 7 2
1 1 FFT_ENABLE 0 2
1 1 FHLD_BRAKE_RATE 8 2
1 1 FHLD_FILT_HZ 5.000000000000000000 9
1 1 FHLD_FLOW_MAX 0.600000023841857910 9
1 1 FHLD_QUAL_MIN 10 2
1 1 FHLD_XY_FILT_HZ 5.000000000000000000 9
1 1 FHLD_XY_I 0.300000011920928955 9
1 1 FHLD_XY_IMAX 3000.000000000000000000 9
1 1 FHLD_XY_P 0.200000002980232239 9
1 1 FLOW_ADDR 0 2
1 1 FLOW_FXSCALER 0 4
1 1 FLOW_FYSCALER 0 4
1 1 FLOW_ORIENT_YAW 0 4
1 1 FLOW_POS_X 0.000000000000000000 9
1 1 FLOW_POS_Y 0.000000000000000000 9
1 1 FLOW_POS_Z 0.000000000000000000 9
1 1 FLOW_TYPE 0 2
1 1 FLTMODE1 7 2
1 1 FLTMODE2 9 2
1 1 FLTMODE3 6 2
1 1 FLTMODE4 3 2
1 1 FLTMODE5 5 2
1 1 FLTMODE6 0 2
1 1 FLTMODE_CH 5 2
1 1 FOLL_ENABLE 0 2
1 1 FORMAT_VERSION 120 4
1 1 FRAME_CLASS 1 2
1 1 FRAME_TYPE 1 2
1 1 FRSKY_DNLINK1_ID 20 2
1 1 FRSKY_DNLINK2_ID 7 2
1 1 FRSKY_UPLINK_ID 13 2
1 1 FS_CRASH_CHECK 1 2
1 1 FS_EKF_ACTION 1 2
1 1 FS_EKF_THRESH 0.000000000000000000 9
1 1 FS_GCS_ENABLE 0 2
1 1 FS_GCS_TIMEOUT 5.000000000000000000 9
1 1 FS_OPTIONS 16 6
1 1 FS_THR_ENABLE 1 2
1 1 FS_THR_VALUE 975 4
1 1 FS_VIBE_ENABLE 1 2
1 1 GCS_PID_MASK 0 4
1 1 GEN_TYPE 0 2
1 1 GND_EFFECT_COMP 1 2
1 1 GPS_AUTO_CONFIG 1 2
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_BLEND_MASK 5 2
1 1 GPS_BLEND_TC 10.000000000000000000 9
1 1 GPS_COM_PORT 1 2
1 1 GPS_COM_PORT2 1 2
1 1 GPS_DELAY_MS 0 4
1 1 GPS_DELAY_MS2 0 4
1 1 GPS_DRV_OPTIONS 0 4
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_GNSS_MODE2 0 2
1 1 GPS_HDOP_GOOD 140 4
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MB1_TYPE 0 2
1 1 GPS_MB2_TYPE 0 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_POS1_X 0.000000000000000000 9
1 1 GPS_POS1_Y 0.000000000000000000 9
1 1 GPS_POS1_Z 0.000000000000000000 9
1 1 GPS_POS2_X 0.000000000000000000 9
1 1 GPS_POS2_Y 0.000000000000000000 9
1 1 GPS_POS2_Z 0.000000000000000000 9
1 1 GPS_PRIMARY 0 2
1 1 GPS_RATE_MS 200 4
1 1 GPS_RATE_MS2 200 4
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SAVE_CFG 2 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 0 2
1 1 GPS_TYPE2 0 2
1 1 GRIP_ENABLE 0 2
1 1 GUID_OPTIONS 0 6
1 1 INITIAL_MODE 0 2
1 1 INS_ACC1_CALTEMP -300.000000000000000000 9
1 1 INS_ACC2OFFS_X 0.001000000047497451 9
1 1 INS_ACC2OFFS_Y 0.001000000047497451 9
1 1 INS_ACC2OFFS_Z 0.001000000047497451 9
1 1 INS_ACC2SCAL_X 1.001000046730041504 9
1 1 INS_ACC2SCAL_Y 1.001000046730041504 9
1 1 INS_ACC2SCAL_Z 1.001000046730041504 9
1 1 INS_ACC2_CALTEMP -300.000000000000000000 9
1 1 INS_ACC2_ID 2753036 6
1 1 INS_ACC3OFFS_X 0.000000000000000000 9
1 1 INS_ACC3OFFS_Y 0.000000000000000000 9
1 1 INS_ACC3OFFS_Z 0.000000000000000000 9
1 1 INS_ACC3SCAL_X 1.000000000000000000 9
1 1 INS_ACC3SCAL_Y 1.000000000000000000 9
1 1 INS_ACC3SCAL_Z 1.000000000000000000 9
1 1 INS_ACC3_CALTEMP -300.000000000000000000 9
1 1 INS_ACC3_ID 0 6
1 1 INS_ACCEL_FILTER 20 4
1 1 INS_ACCOFFS_X 0.001000000047497451 9
1 1 INS_ACCOFFS_Y 0.001000000047497451 9
1 1 INS_ACCOFFS_Z 0.001000000047497451 9
1 1 INS_ACCSCAL_X 1.001000046730041504 9
1 1 INS_ACCSCAL_Y 1.001000046730041504 9
1 1 INS_ACCSCAL_Z 1.001000046730041504 9
1 1 INS_ACC_BODYFIX 2 2
1 1 INS_ACC_ID 2753028 6
1 1 INS_ENABLE_MASK 127 2
1 1 INS_FAST_SAMPLE 1 2
1 1 INS_GYR1_CALTEMP 25.049049377441406250 9
1 1 INS_GYR2OFFS_X 0.001198860118165612 9
1 1 INS_GYR2OFFS_Y 0.001416343031451106 9
1 1 INS_GYR2OFFS_Z 0.001229060813784599 9
1 1 INS_GYR2_CALTEMP 25.049049377441406250 9
1 1 INS_GYR2_ID 2752780 6
1 1 INS_GYR3OFFS_X 0.000000000000000000 9
1 1 INS_GYR3OFFS_Y 0.000000000000000000 9
1 1 INS_GYR3OFFS_Z 0.000000000000000000 9
1 1 INS_GYR3_CALTEMP -300.000000000000000000 9
1 1 INS_GYR3_ID 0 6
1 1 INS_GYROFFS_X 0.001206754241138697 9
1 1 INS_GYROFFS_Y 0.001515510724857450 9
1 1 INS_GYROFFS_Z 0.001278059091418982 9
1 1 INS_GYRO_FILTER 20 4
1 1 INS_GYRO_RATE 0 2
1 1 INS_GYR_CAL 1 2
1 1 INS_GYR_ID 2752772 6
1 1 INS_HNTCH_ENABLE 0 2
1 1 INS_LOG_BAT_CNT 1024 4
1 1 INS_LOG_BAT_LGCT 32 4
1 1 INS_LOG_BAT_LGIN 20 2
1 1 INS_LOG_BAT_MASK 0 2
1 1 INS_LOG_BAT_OPT 0 2
1 1 INS_NOTCH_ENABLE 0 2
1 1 INS_POS1_X 0.000000000000000000 9
1 1 INS_POS1_Y 0.000000000000000000 9
1 1 INS_POS1_Z 0.000000000000000000 9
1 1 INS_POS2_X 0.000000000000000000 9
1 1 INS_POS2_Y 0.000000000000000000 9
1 1 INS_POS2_Z 0.000000000000000000 9
1 1 INS_POS3_X 0.000000000000000000 9
1 1 INS_POS3_Y 0.000000000000000000 9
1 1 INS_POS3_Z 0.000000000000000000 9
1 1 INS_STILL_THRESH 2.500000000000000000 9
1 1 INS_TCAL1_ENABLE 0 2
1 1 INS_TCAL2_ENABLE 0 2
1 1 INS_TCAL3_ENABLE 0 2
1 1 INS_TCAL_OPTIONS 0 6
1 1 INS_TRIM_OPTION 1 2
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 1 2
1 1 LAND_ALT_LOW 1000 4
1 1 LAND_REPOSITION 1 2
1 1 LAND_SPEED 50 4
1 1 LAND_SPEED_HIGH 0 4
1 1 LGR_DEPLOY_ALT 0 4
1 1 LGR_DEPLOY_PIN -1 2
1 1 LGR_DEPLOY_POL 0 2
1 1 LGR_OPTIONS 3 4
1 1 LGR_RETRACT_ALT 0 4
1 1 LGR_STARTUP 0 2
1 1 LGR_WOW_PIN 8 2
1 1 LGR_WOW_POL 1 2
1 1 LOG_BACKEND_TYPE 1 2
1 1 LOG_BITMASK 176126 6
1 1 LOG_DISARMED 0 2
1 1 LOG_FILE_BUFSIZE 200 4
1 1 LOG_FILE_DSRMROT 0 2
1 1 LOG_FILE_MB_FREE 500 4
1 1 LOG_FILE_TIMEOUT 5 4
1 1 LOG_MAV_BUFSIZE 8 2
1 1 LOG_REPLAY 0 2
1 1 LOIT_ACC_MAX 500.000000000000000000 9
1 1 LOIT_ANG_MAX 0.000000000000000000 9
1 1 LOIT_BRK_ACCEL 250.000000000000000000 9
1 1 LOIT_BRK_DELAY 1.000000000000000000 9
1 1 LOIT_BRK_JERK 500.000000000000000000 9
1 1 LOIT_SPEED 1250.000000000000000000 9
1 1 MIS_OPTIONS 0 4
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 0 4
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 0 2
1 1 MNT_LEAD_PTCH 0.000000000000000000 9
1 1 MNT_LEAD_RLL 0.000000000000000000 9
1 1 MNT_NEUTRAL_X 0.000000000000000000 9
1 1 MNT_NEUTRAL_Y 0.000000000000000000 9
1 1 MNT_NEUTRAL_Z 0.000000000000000000 9
1 1 MNT_RC_IN_PAN 0 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 0 2
1 1 MNT_RETRACT_X 0.000000000000000000 9
1 1 MNT_RETRACT_Y 0.000000000000000000 9
1 1 MNT_RETRACT_Z 0.000000000000000000 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 MOT_BAT_CURR_MAX 0.000000000000000000 9
1 1 MOT_BAT_CURR_TC 5.000000000000000000 9
1 1 MOT_BAT_IDX 0 2
1 1 MOT_BAT_VOLT_MAX 12.800000190734863281 9
1 1 MOT_BAT_VOLT_MIN 9.600000381469726563 9
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I would like to send you my simulation video. However, I cannot upload videos here because of the oversize. Is there any way?
You need to upload the video somewhere, and post a link here.
@rmackay9 do you have any ideas?
A onboard log file would be best of course. Videos are ok but they don’t really give a lot of detail of what is going on inside AP.
AP will refuse setting of the origin if the GPS is enabled. I suspect some of the EK3_SRCx parameters haven’t been set correctly. Probably some of them are still “3” which is for GPS.
We should probably allow the EKF3 to accept an origin even if GPS is configured because the vehicle may initially be somewhere that it cannot get a GPS fix.
By the way, the setup should be similar to the setup of the T265 which is described here on the wiki. You probably want to keep VISO_TYPE = 1 instead of “2” which has some specific features for the T265.
It might also be good to drop into the “vision-projects” channel in discord (see link here)
Can I leave questions freely on the discord channel?
yes, especially in the vision-projects chat we try to help users setup the system because it’s still fairly new.
