search

url-kaist / kaistviodataset

"Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.
GNU General Public License v3.0
74 stars 7 forks source link

About Pixhawk 4 mini Calibration #9

Closed dssdyx closed 1 year ago

dssdyx commented 1 year ago

Hi, I'm also trying to use pixhawk 4 mini + d435i for VIO. I want to know whether you calibrate sensors of pixhawk 4 mini in ground station such as QGC or MP before recording datasets. Thank you!

zinuok commented 1 year ago

Dear @dssdyx ,

Yes, the pixhawk4 mini sensor was calibrated via QGC for more accurate sensor information processing. (the basic calibration was performed in QGC)

Thank you Jinwoo Jeon

dssdyx commented 1 year ago

Dear @dssdyx ,

Yes, the pixhawk4 mini sensor was calibrated via QGC for more accurate sensor information processing. (the basic calibration was performed in QGC)

Thank you Jinwoo Jeon

Thank you for your reply! Would you like to share your pixhawk 4 mini PX4 firmware and parameters?

zinuok commented 1 year ago

Dear @dssdyx

I'm sorry for not getting back to you sooner. We don't have the PX4 firmware and parameters at this time.

Actually, there is no special setting other than enabling vision_pose to receive GT pose from the Motion capture system. I hope you could easily achieve it. (If you want to log the high-frequency IMU data, please refer this post) Feel free to re-open this issue or open another issue if you want.

Thank you Jinwoo Jeon