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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
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[7.1 RC1] Sensor funsion: Altitude going nuts in Realflight/SITL when Baro is used #9755

Open Scavanger opened 9 months ago

Scavanger commented 9 months ago

Sensor fusion does not work properly in SITlL, at least in RealFlight, XPlane not yet tested.

If the barometer is used, the altitude calculation starts to go crazy and displays seemingly random altitude values, alternately too high or too low, which causes extreme dolphining in the NAV modes. If the barometer is switched off, everything is normal, which of course has no practical effect in SITL, as the GPS data is very accurate and does not fluctuate.

At first I thought it was the magnetometer, as that fixed the error for me recently, but it seems to be the barometer.

b14ckyy commented 8 months ago

Fixed I guess? https://github.com/iNavFlight/inav/pull/9724

Scavanger commented 8 months ago

Nope, unfortunately not. I thought that was the error, but randomly the altitude is sometimes correct, but in most cases it jumps up and down randomly. The error must be somewhere in the new sensor fusion code.