search

KumarRobotics / kr_autonomous_flight

KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors
Other
654 stars 110 forks source link

ERROR message "[Traj Tracker:] Max position error ..." #145

Closed donglianghere closed 2 years ago

donglianghere commented 2 years ago

image During my real uav experiment with the propellers all removed, after start the system, i get the uav to the position of takeoff height, then let the uav stay still, put a waypoint far from the uav in rviz, then press publish waypoints buttons and Execute Waypoints Mission button, after some seconds, the error message appeared as shown in the image above, what the error messages mean ? I guess, if the uav executes real flight, the error messages may not appear, is that ture? image Very Thanks! @versatran01

XuRobotics commented 2 years ago

Yes. It just means the distance between the desired position from the trajectory tracker and your quad’s estimated pose is larger than the predefined threshold (0.5 meter). It happens either your state estimation is noisy, or your controller cannot track the trajectory tightly.

donglianghere commented 2 years ago

@XuRobotics I see, it is because that the uav did not move at all, I only move the uav to takeoff height manually and then keep still. thank you so much!!!