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PX4 / PX4-ECL

Estimation & Control Library for Guidance, Navigation and Control Applications
http://dev.px4.io
BSD 3-Clause "New" or "Revised" License
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EKF2 Unstable despite Stable Data #867

Closed lelliotts20 closed 3 years ago

lelliotts20 commented 4 years ago

Screenshot from 2020-07-14 15-42-13

Hey all! Really struggling to understand why the EKF2 local position is wandering all over the place despite the sensor data remaining relatively stable. After about 30 seconds of sitting on the ground in simulation the pos_horiz_accuracy stats to rise and never comes back down.

Setup is as follows: Px4 in gazebo sitl mode with simulated depth camera Imu and mag from mavros fused using imu filter madgwick Said data is passed through rtabmap's odometry and fed into /mavros/odometry/out Ekf2 _aid_mask 24

lelliotts20 commented 4 years ago

Follow up with 2 logs, there seems to be two issues. One where my data causes it to go invalid in air and the other where the ekf goes invalid on the ground. (data from image got corrupted, new log isn't as crazy) Crashes.zip

priseborough commented 3 years ago

Old version of code. Significant robustness and stability improvements have been made since. Please re-open if this is still an issue with the current version.