Drone drift in LOITER mode immediately after takeoff

ArduCopter Copter 4.6
1

Flying the drone with Visual Odometry as primary source. After takeoff the drone starts to drift a lot even though there is not EKF variance for velocity/position.
After reviewing the logs, I understood visual odometry data was stable.
Not able to figure out what exactly the problem is
Need help!!!

2

Could you share a log file and a parameter file?
What kind of environment are you flying in? What physical features or surfaces is the VO tracking?

1 Like
4

Hi
I cannot share the parameter or log file
I have a question though, is it possible that the drone drifted because the axis of visual odometry(x, y) did not match with the axis of IMU??

5

You will have to review your config yourself. GPS and Vis Odom weren’t consistent AFAIK.

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If the VISP.X is showing positive data why is the XKF1.PE showing negative The drone was kept facing east direction, visual position data sent to mavros was x right, y forward, z up(ENU) which after converting to NED became x forward, y right, z down so ideally +x means east direction right?