I’m Shaik Jani Basha
I’m working on indoor drone navigation using a Livox Mid-360 LiDAR with FAST-LIO SLAM. The 3D mapping and SLAM pipeline are running reliably without errors, and we are publishing stable X, Y, Z position along with odometry (>10 Hz).
However, the drone is still experiencing noticeable drift during hover. I suspect it could be related to state estimation fusion, controller tuning, or frame alignment.
Could you share any insights or suggestions on how to reduce drift in this setup?