I have been struggling with getting VIO data to make the Pixhawk Cube fly steady in POSITION flight mode, it just drifts every time. I have come across in the event flags that “starting_vision_vel_fusion” is false, is velocity data from the stereo-vision camera required as well as the X, Y, and Z, and then the roll, pitch, and yaw.
The stereo-vision camera I am using does not provide that data, so I might have to calculate it manually, using time and the positioning data.
Has anyone encountered something similar before and can they confirm if the velocity data is absolutely required for this?