I’m trying to control my quad copter indoor with scripts on Raspberry Pi. I’ve successfully mounted my quad with optical flow and a separate rangefinder, and I’ve made it to fly in loiter mode with my RC controller in GPS-denied conditions. And I followed the steps in The copter does not takeoff in Guided mode and EKF_GPS_TYPE = 3 (optical flow) , I am able to takeoff with my script!
But here comes the problem. Whenever the drone has took off, I would receive ‘EKF variance’ message from Mission Planner, and an ‘Err: EKF_CHECK-2’ was found in the log. The copter will then trigger the failsafe and switch to LAND.
I’m facing this issue with Copter-3.52 on my quad copter, and both Copter-3.52 and the latest Copter-3.6-dev with SITL (I disabled GPS and enable a virtual optical flow and a virtual rangefinder on SITL). I’ve also tried both EKF2 and EKF3, but the problem still exists.
Any help will be appreciated. Thank you!