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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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PX4 Vision Dev Kit v1.5 Velocity Estimate Error when not use GPS #21554

Open RPS98 opened 1 year ago

RPS98 commented 1 year ago

Describe the bug

Has upload PX4 Autopilot firmware in v1.14.0-beta2 version to the PX4 Vision Dev Kit v1.5 aircraft.

The following error appears and I can not arm the aircraft:

Critical: Preflight Fail: velocity estimate error
Critical: Preflight Fail: horizontal velocity unestable

To Reproduce

Steps to reproduce the behavior:

  1. Apply airframe setup: QGroundControl -> Vehicle Setup -> Airframe -> Quadrotor x -> PX4 Vision Dev Kit 1.5
  2. Disable GPS: GPS_1_CONFIG: Disable (note: COM_ARM_WO_GPS: Allow arming without GPS)
  3. Disable avoidance system: COM_OBS_AVOID: Disable
  4. Calibrate sensors and reboot
  5. Error appears

Expected behavior

Can not fly with trajectory setpoint (velocity control) because velocity estimation error.

Drone:

w2016561536 commented 1 year ago

I have met the same bug on ver. 14.4, and i use the pmw3901 optical flow. The drone refused me to arm. And if i rollback to 13.3, it can be armed, but the position hold is really awful. The data of distance sensor and optical flow is valid in Mavlink event