Offboard Velocity and altitude sudden increases

🧪 Flight Testing & Log Analysis
1

Hey there. I’m facing an issue - using offboard mode and suddenly as the drone trying to reach a different altitude, the velocity and altitude will sudden increase drastically to the ceiling.

Here is the flight log: https://review.px4.io/plot_app?log=bd746742-5dd5-4e3d-b257-ecdc6e66fb31

Please help and I would really appreciate it. Thanks in advance!

2

What are relying on for Pose estimation??? Your EKF_AID_MASK shows IMU Bias Estimation,
is that so?

3

Hi @mwbb, my EFK_AID_MASK is using optical flow as pose estimation.

4

@britson

My bad, you are correct.

1 - What is your setup? If you are not using DJI ESCs please change ur airframe to Generic Quad.
2 - I see that you are having lots of vibrations. Try to fix it.
3 - What are you relying on for your altitude? If it is a sonar sensor, then try a lidar or another range sensor.

5

@mwbb

I am currently using F450 frame but I’m not sure what do you referring to DJI ESCs.
https://www.aliexpress.com/item/32390299777.htmlspm=a2g0o.cart.0.0.6b1e3c00lRUna4&mp=1 (this is my purchase - except that i’m using Pixhawk 2.4.8)

And can I generally ask how does it affects the parameters if I select Generic?