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clydemcqueen / bluerov2_ignition

BlueROV2 model for Gazebo Garden
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Bouncy depth hold, odd IMU behavior? #7

Open clydemcqueen opened 1 year ago

clydemcqueen commented 1 year ago

I am seeing some "bouncy" depth hold behavior using SITL+Gazebo that I'm not seeing in the default SITL. It may be caused by the IMU simulation. With Release Sub-4.1 branch, release 4.1.0.

SITL without Gazebo, holding depth, about 30 seconds: SITL

SITL with Gazebo, holding depth, about 30 seconds -- notice the IMU: Gazebo

clydemcqueen commented 1 year ago

The default SITL barometer is noisy -- which makes sense for plane and copter, but not for sub. Quick fix:

param set SIM_BARO_RND 0.01