Problem with EKF position estimation

[Firefly]

Hello,

I’ve entered some strange issues with my copter with flying in offboard mode. Sometimes it flies away not taking into account velocity setpoints from my program. During log analysis I found that local position is calculated wrongly, the data from my accurate gps(its rtk) is somehow ignored. What can cause it? And could you advice me a proper way to analyze EKF working process? I found parameters EST*, but I couldnt find their descriptions.

Here is image with GPOS_Lat vs TIME_StartTime (red continues line) and GPS_Lat vs TIME_StartTime (dashed line)

Thank you in advance,
Firefly

[shawinmihail]

Hi. i have the same problem. pls, let me now if u can fix it =)

EKF solve gaps

Hi there. I trying to solve problem with ekf. Deal is i have bad solution ekf pose estimator GPOSE (with gaps) when GPS data is accurate. I have no idea what the reason. May be someone can give me advise how I can analyze it or what can be the reason. x,y,z [image] red - gpose green - gps lat(t) [image] red - gpose green - gps would be thankful for any idea or help P.S. unfortunately i haven’t a new log format file, only old “.px4log”