Recently, I’m trying to control a quadrotor with dynamic motion indoors using a mocap. However, the Mocap easily loses the quadrotor’s position whenever it gets speed as the space is narrow. When I checked it roughly, there seems to be no problem if the mocap streaming rate is about 200hz. But the px4 development guide says that 50hz should be used.
I’d just gave it a try and I got the “RTT too high for timesync: xxx ms” messages. I was able to turn it off on Mavros but since RTT is too high, px4 was having quite an amount of lagging till it gets its own position from mocap. So I wonder if there is any way to solve this problem or at least decrease the queue of buffer size to get the current position instead of the delayed position.