Open Minderring opened 2 months ago
This is caused by the fact that lidar is not able to get stable readings. Whenever lidar becomes unstable INAV executes descend to regain altitude readings
Thank you! But it performs normally on INAV 6.1 and 7.0, abnormally on INAV 7.1. The height is also within the measurement range. I check the data of the rangefinder in real-time through telemetry and is correct.
It would be useful if you could provide a Log and also a Diff file (easier to check).
Okay, I will test it and save the log later.
Current Behavior
The optic flow & lidar sensor MTF-01 work well in INAV6.1 and INAV7.0 as the video: https://www.youtube.com/watch?v=bEKm-PGRnks But when I upgraded the firmware to INAV7.1, the quad floated up and down: https://www.youtube.com/shorts/A4Gc1CagAus Same hardware and configuration, but different results. To find the reason. I tried the ALTHold mode using baro and it worked well, then I added the rangefinder and in Surface Mode and ALTHold mode, the problem shown in the video has occurred.
Steps to Reproduce
Expected behavior
I tested it in INAV6.1 and INAV7.0 and it flied stably. I consider it should be the same as previous.
Suggested solution(s)
If there is any change about the fusion of baro and rangefinder between INAV7.0 and INAV7.1 which might cause the problem.