Major EKF bug?

PX4 Autopilot
1

I’m getting height estimate issues on PX4 1.15.0 but the vibration on my airframe is low. The way it’s diverging doesn’t make sense. The estimated altitude is dropping significantly below the GPS (which is selected for the EKF2_HGT_REF), despite neither the range sensor nor the barometer providing this data.

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Here is the log: https://review.px4.io/plot_app?log=9effacb6-a520-45ed-8f66-569c9fd9295b

Here’s another post where I encountered the same issue: Height estimate diverging!

This seems to be a major issue (unless I’m missing something) and it’s quite negatively impacting the performance of my drone.

2

There were some height estimation issues when using range finder with 1.15. Can you try the main branch? We’re working towards a 1.16 release soon.

3

Good to know, thank you! Will give that a shot, and also try disabling the rangefinder to see if the issue persists.