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ethz-asl / waypoint_navigator

Stand-alone waypoint navigator
GNU General Public License v3.0
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nan values in KF when changing the mav model from firefly to hummingbird #22

Open PabloRauhCorro opened 9 months ago

PabloRauhCorro commented 9 months ago

Hello, I am having trouble changing the mav model. My goal would be to model my own mav and then simulate it's flight. The repo works with the default mav, firefly. However even just changing it to the hummingbird mav fails, even though it should be supported according to the README ("This package can be used with any MAV interfaced to our MPC").

roslaunch waypoint_navigator mav_sim.launch mav_name:=hummingbird roslaunch waypoint_navigator waypoint_navigator.launch namespace:=hummingbird rosservice call /hummingbird/execute_path

The drone doesn't start and an error message repeatedly complains about nan values estimated by the kalman filter: "The estimated state in KF Disturbance Observer has a non-finite element"

Any pointers on how to fix this?

PabloRauhCorro commented 9 months ago

I by chance discovered that using "rosservice call /hummingbird/takeoff" before "rosservice call /hummingbird/execute_path" prevents the error.