I’ve been working on a custom airframe (singlecopter) with the PX4. I’ve achieved very good flight stability and good altitude hold. I’m using a PixHawk (with px4fmu-v2_lpe). Currently, I’m working on achieving position hold now, with the PX4Flow Optical Flow module. Previously, I had attained very good position hold with the same optical flow module on a quadcopter.
However, since moving to the custom airframe, my LPOS.X and LPOS.Y estimates have been going haywire. I’m running all my tests indoors, as it is the final objective. I’ve tried various flow sensor orientations (with appropriate changes in the parameters), to no avail. I’m using an MB1242 SONAR as my rangefinder, I’ve made changes in the driver file to allow me to use it facing upwards. Can this be a reason for bad LPOS estimation? I’ve also tried various surfaces in a attempt to get better position estimation, with no improvement in the results.
Here’s a log where I move the copter in an “L” in ALTHOLD mode -
What can I do to improve my LPE estimation? Could this be a hardware issue?