What is the suggested method of tuning the EKF2_EV_DELAY parameter? I’ve been just moving it around and empirically seeing if my drone flies better or worse. Does anyone have a better suggestion, or does PX4 1.14 support a more data driven approach to calculating that delay?
I’d try to get some log data where you do some transitions from still to movement and then you compare the IMU measurements (e.g. gyro) which can be considered at time 0 and the vision signals coming in, presumably with some delay.
Oh very nice I like the data driven approach, thanks @JulianOes !