System Overview:
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Vision System: Stereo Camera - VIO
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Calibration: Extrinsic calibration between PX4 IMU and Vision IMU performed using Kalibr - i do visualise of the result and its lock good
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Flight Mode: Position Slow Mode (tested at low speeds to observe behavior).
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Frame: 7 inch
The Problem: I am experiencing significant Yaw-Induced Translation (often referred to as “orbital yaw” ). When I command a pure yaw via the RC, the drone does not rotate around its Center of Mass or the IMU center. Instead, it travels in a circle with a radius of approximately 1 meter.
Testing & Observations:
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Static Bench Test: I tested the vision system’s stability on a robotic arm and a rotating chair to simulate pure yaw. In these controlled environments, the position estimate remains stable and does not diverge.
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In-Flight: As soon as the drone is airborne in Position Mode, any yaw input results in the drone “orbiting” a central point rather than spinning on its axis.
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Calibration: I have used Kalibr to find the transformation between the PX4 IMU and the camera. I believe my extrinsics are mathematically sound, but the translation coupling persists during flight.
thanks for helping