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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Weird EKF behaviour with VIO #20914

Open ripdk12 opened 1 year ago

ripdk12 commented 1 year ago

So I'm using a VIO source which provides very accurate odometry messages sent to the px4 via. MAVROS. It does fly well, but occasionally the state estimator flips out completely which has the potential to lead to some pretty nasty crashes.

A flight log of this happening: https://review.px4.io/plot_app?log=b3cfc2fb-83ef-431a-890c-e9b905b5fb6f

I've been experimenting with all kinds of values in the parameter list, like the EKF2_AID_MASK, but the issue prevails. I've noticed when looking at my rosbag, that the VIO data i feed is always correct, and the "local_position/odom" message, which i assume to be after EKF2 fusion, is never quite as precise, and sometimes completely trusts the GPS position (which is very inaccurate).

How can I tune the EKF to trust the external vision system more than it currently does?

dagar commented 1 year ago

Could you give this a try with current PX4 main and share the log? There's been quite a lot of churn in this area and we're now in a position to better position to work through it in main (soon to be v1.14).

ripdk12 commented 1 year ago

So I was able to flash main to cube orange plus now (with #20304) and have tested here:

https://review.px4.io/plot_app?log=9fd1eac0-435e-49f6-bb46-05f5b67ff766

The drone seems to be flying better now, but I still get this random funny behavior every once in a while. I'm literally just telling it to fly in a 1x1 meter square and land at starting position.

ripdk12 commented 1 year ago

I updated to latest main (f3cdf707) and got another log of a crash: https://review.px4.io/plot_app?log=4dda9408-5623-4d55-8afd-760c322139da

I also got a rosbag of the event: https://drive.google.com/file/d/1oqrZrz8ud47KXCmzk8wyY_x5E-OmF_An/view?usp=sharing