Hello, My drone TOW is 6kg with Cuav neo 3 pro GPS, t-motor 230kv with 24 inch folding prop. The drone is facing position and height variance. The drone is not maintaining altitude correctly due to height variance.
May I know what reason the variance in EKF will come. I tried to changing GPS_GNSS_MODE to 0, 5, 65, 13, 71,73 but still i see position variance. Also increased EK3_posne_M_nse from 0.5 to 0.8 and 0.7 but still i am facing the issue.
Can anyone please suggest me to overcome this.
@xfacta, @amilcarlucas and other developers please have a look and suggest me the solution.
Try changing these:
ATC_RAT_PIT_D,0.0055
ATC_RAT_RLL_D,0.005
ATC_RAT_YAW_D,0.001
GPS_GNSS_MODE,5
INS_HNTCH_REF,0.12
INS_HNTCH_HMNCS,3
INS_HNTC2_ENABLE,0
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222
Do another test flight in AltHold and Loiter - let’s see that log.
Sorry for the delay and thanks for the reply. The issue i faced is with the gps, As i set GPS_AUTO_SWITCH= blend . Later I switch to use best and this solved my issues.
I came up with those params by checking in your log so you should still set them regardless of whether the altitude issue looks solved.
This is my recent log, please let me know if anything need to be changed. I will change and also apply the above suggested params along with it.