Hi all,
I’m doing an indoor drone project using EKF, we don’t want to use GPS so
we set EKF2_AID_MASK to 8 only using vision position.
We are doing experiment on a gazebo sitl simulaor and mavros, everything seemed to be okay except px4 commander kept warning
INFO [Unknown] EKF External Vision Data Stopped WARN [Unknown] EKF stopping navigation INFO [Unknown] EKF commencing external vision position fusion INFO [Unknown] EKF External Vision Data Stopped ERROR [mavlink] [timesync] Hard setting offset. INFO [Unknown] EKF commencing external vision position fusion ERROR [mavlink] [timesync] Hard setting offset. INFO [Unknown] EKF External Vision Data Stopped WARN [Unknown] EKF stopping navigation INFO [Unknown] EKF commencing external vision position fusion ERROR [mavlink] [timesync] Hard setting offset. INFO [Unknown] EKF External Vision Data Stopped
And when I look at the rostopic /mavros/local_position/pose, the xy postion turned to nearly 0(similar with no position input) very quickly as I nearly cannot see.
We want to solve this problem because the nearly 0 position input make the whole system stable.
Anyone have the ideas of what is happening in ecl, or how to solve this problem? I only want to use one position input(vision position).