The only hack I found is to increase the allowed limit of the bias in the PX4 firmware. Otherwise nothing is working.
I have to wait about 10 seconds after resetting the drones to their initial position, in order to wait for accelerometer value to calm down. Otherwise If I try to takeoff the quadcopter directly after resetting their positions, each drone is going to takeoff with an angle towards a random direction.
By the way, I was getting accelerometer bias for the quadcopter (iris) with optical flow even before flying for the first time, I think there is something wrong of the calibration inside the firmware ().
EKF2 fuse the data from different sensors, in our case GPS with IMU. When adding the optical flow, the bias increased naturally without any modification.
We need more documentation about the firmware, it takes a lot of time to understand what is happening. We need also to update the existing documentation in the user and developer section for the firmware.
One point to add, the reboot() command inside the px4 software is not working during the simulation. Why??
Is there any possibility to have commands auto-complete functionality inside the Px4 shell, Or some kind of man pages to help users understanding the reason behind each command. What do they do ?? What are their semantics?