I'm following the sfly framework tutorial (http://wiki.ros.org/ethzasl_sensor_fusion/Tutorials/sfly_framework) on a pelican uav, I try to use the waypoint server in order to achieve a position control. In the first test, I only switch for an altitude control (z-axis) and it's work well, but when it's come to the x and y axis the pelican goes out of control, making huge oscillation around it.
I think the ptam and the sensor_fusion work well, I setup the right values for the vision part and it give me a good estimation of the pose, but I'm not sure that the x/y axis are in the good direction.
When I do the sanity check 3.1.2 (http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control) and plot the position_input, I found that the x and y direction depend on the initialization of the ptam and are not in the same direction of the north and east. So I tried different initialisation of the ptam, in order to have the x direction align with the north, but it doesn't work well and I'm not sure that the problem.
I'm following the sfly framework tutorial (http://wiki.ros.org/ethzasl_sensor_fusion/Tutorials/sfly_framework) on a pelican uav, I try to use the waypoint server in order to achieve a position control. In the first test, I only switch for an altitude control (z-axis) and it's work well, but when it's come to the x and y axis the pelican goes out of control, making huge oscillation around it.
I think the ptam and the sensor_fusion work well, I setup the right values for the vision part and it give me a good estimation of the pose, but I'm not sure that the x/y axis are in the good direction.
When I do the sanity check 3.1.2 (http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control) and plot the position_input, I found that the x and y direction depend on the initialization of the ptam and are not in the same direction of the north and east. So I tried different initialisation of the ptam, in order to have the x direction align with the north, but it doesn't work well and I'm not sure that the problem.