Large EKF errors with SD Flight and v1.7.0-rc1

🧪 Flight Testing & Log Analysis
1

Can anyone tell me what is going on here? I’m running PX4 on a sensor to get an EKF solution so it’s just attached to a multirotor. Why is the GPS good but the EKF way off?

https://logs.px4.io/plot_app?log=1397a6a3-fb0c-41cb-92d9-f8814e74838e

Thanks,
Brandon

2

Hi,

  • Do you have the module mounted isolated from vibrations?
  • Could you try a test when you walk around with the multirotor without powering it, except for the px4 sensor, in order to see the performance of the ekf without vibrations and mag interference?
3

Did you do the mag calibration indoors or on the field?

4

the vibration is looks good. not too large

5

Appreciate the help. I’ve been wracking my brain around this for weeks.

I recently browsed the public logs and found this flight so I know it should work. https://review.px4.io/plot_app?log=1bce57f2-fb6a-487b-96c5-b68b56d69b32

The mag was calibrated outdoors and the yaw looks pretty clean. Here is a plot of the yaw overlayed with the cog. Is my rotation incorrect? https://ibb.co/mRDLkG

Here is a link to just walking around with the rotor/sensor outside. https://review.px4.io/plot_app?log=088adbf3-6aba-4430-9b9a-aae3940cd26c

I know the hardware works b/c it runs fine on v1.5.4. Here is a link using v1.5.4. https://review.px4.io/plot_app?log=7542396b-f163-4a2a-9446-4c4671a594e5

From v1.5.4 to v1.7.0 is there a new EKF check where the system has to be in a certain arming_state or in a certain nav_state to find the correct solution?

Also are you flying EAGLE’s? What version of BSP and qrlSDK add on are you on?

6

Another log just walking around outside. https://review.px4.io/plot_app?log=8681699f-a878-4be7-aeb9-2b6f86bb00a5.

7

What kind of platform are you running px4 on? The sensor data looks very strange
Here is a hand held test from a pixracer

image.png1006×844 51.5 KB

image.png993×847 22.6 KB

And here is one of your hand held logfiles

image.png997×850 47.6 KB

image.png1006×838 32.4 KB

8

I think I’ve solved the EKF solution problem. Some of the modules were commented out. More specifically the navigator, dataman, land_detector, mc_control, and mc_att, Do you know which modules directly affect the EKF?

Good flight. https://review.px4.io/plot_app?log=63e36399-30ef-4c0d-bac4-37a29b75c7a7