PX4 Community Q&A: June 28, 2023

junwoo0914 · June 29, 2023, 2:55pm

Just a note, this seems to be the same issue as here:

Optitrack data didn't used in EKF

opened 04:55PM - 21 Apr 23 UTC

vision bug-report

## Describe the bug I use optitrack as an external position reference, but it s…eems that ekf is not using position data. ## To Reproduce follow the [guide](https://docs.px4.io/main/en/ros/external_position_estimation.html) and https://risc.readthedocs.io/1-indoor-flight.html 1. In Motive, choose View > Data Streaming from menu bar. Check the boxes Broadcast Frame Data in OptiTrack Streaming Engine and VRPN Streaming Engine sections. Create a rigid body by selecting markers of interest. In Advanced Network Options section change Up Axis to Z Up. on my companion computer, run ```Console $ roslaunch vrpn_client_ros sample.launch server:=192.168.3.252 ``` I can receive Mocap data under topic `/vrpn_client_node/<rigid_body_name>/pose` by run `rostopic echo /vrpn_client_node/RigidBody/pose` ```Console --- header: seq: 4975 stamp: secs: 1682086599 nsecs: 613445830 frame_id: "world" pose: position: x: 1.1339868307113647 y: -2.063505172729492 z: 0.5767601728439331 orientation: x: 0.03174411132931709 y: 0.01097777858376503 z: 0.011162354610860348 w: 0.9993734955787659 --- ``` 2. Remap the pose topic from Mocap /vrpn_client_node/<rigid_body_name>/pose directly to /mavros/vision_pose/pose. ```Console $ rosrun topic_tools relay /vrpn_client_node/RigidBody/pose /mavros/vision_pose/pose ``` run `rostopic echo /mavros/vision_pose/pose` , (Not run at the same time as the command that prints `/vrpn_client_node/RigidBody/pose`.), so the update time interval is about 20ms? ```Console --- header: seq: 92417 stamp: secs: 1682086448 nsecs: 761981303 frame_id: "world" pose: position: x: 1.6821959018707275 y: -1.878477931022644 z: 0.8759177327156067 orientation: x: 5.24241550010629e-05 y: -0.00011159150744788349 z: -1.5280322259059176e-05 w: 1.0 --- header: seq: 92418 stamp: secs: 1682086448 nsecs: 782298890 frame_id: "world" pose: position: x: 1.6821929216384888 y: -1.8784681558609009 z: 0.8759211897850037 orientation: x: 5.0888331315945834e-05 y: -7.606665894854814e-05 z: -1.709804928395897e-05 w: 1.0 --- header: seq: 92419 stamp: secs: 1682086448 nsecs: 791980543 frame_id: "world" pose: position: x: 1.6821929216384888 y: -1.8784756660461426 z: 0.8759207725524902 orientation: x: 6.052733078831807e-05 y: -9.11090464796871e-05 z: -1.5816982568139792e-07 w: 1.0 --- ``` and in the log, we can see the `vehicle_visual_odometry_0` data is <img width="945" alt="image" src="https://user-images.githubusercontent.com/43166007/233787162-3a129b53-c169-4912-8bf1-c494f72d61a6.png"> 3. run mavros ```Console $ roslaunch mavros px4.launch ... logging to /home/parallels/.ros/log/ecea82c8-e04e-11ed-bca1-99848a3fac42/roslaunch-ubuntu-linux-20-04-desktop-200778.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://localhost:38635/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mavros/camera/frame_id: base_link * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_rate: 1.0 * /mavros/conn/system_time_rate: 1.0 * /mavros/conn/timeout: 10.0 * /mavros/conn/timesync_rate: 10.0 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/laser_1_sub/id: 3 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/laser_1_sub/subscriber: True * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /mavros/distance_sensor/lidarlite_pub/id: 1 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /mavros/distance_sensor/lidarlite_pub/send_tf: True * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0 * /mavros/distance_sensor/sonar_1_sub/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_sub/subscriber: True * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0 * /mavros/fake_gps/eph: 2.0 * /mavros/fake_gps/epv: 2.0 * /mavros/fake_gps/fix_type: 3 * /mavros/fake_gps/geo_origin/alt: 408.0 * /mavros/fake_gps/geo_origin/lat: 47.3667 * /mavros/fake_gps/geo_origin/lon: 8.55 * /mavros/fake_gps/gps_rate: 5.0 * /mavros/fake_gps/mocap_transform: True * /mavros/fake_gps/satellites_visible: 5 * /mavros/fake_gps/tf/child_frame_id: fix * /mavros/fake_gps/tf/frame_id: map * /mavros/fake_gps/tf/listen: False * /mavros/fake_gps/tf/rate_limit: 10.0 * /mavros/fake_gps/tf/send: False * /mavros/fake_gps/use_mocap: True * /mavros/fake_gps/use_vision: False * /mavros/fcu_protocol: v2.0 * /mavros/fcu_url: /dev/ttyUSB0:921600 * /mavros/gcs_url: udp://@192.168.3.169 * /mavros/global_position/child_frame_id: base_link * /mavros/global_position/frame_id: map * /mavros/global_position/gps_uere: 1.0 * /mavros/global_position/rot_covariance: 99999.0 * /mavros/global_position/tf/child_frame_id: base_link * /mavros/global_position/tf/frame_id: map * /mavros/global_position/tf/global_frame_id: earth * /mavros/global_position/tf/send: False * /mavros/global_position/use_relative_alt: True * /mavros/image/frame_id: px4flow * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /mavros/imu/frame_id: base_link * /mavros/imu/linear_acceleration_stdev: 0.0003 * /mavros/imu/magnetic_stdev: 0.0 * /mavros/imu/orientation_stdev: 1.0 * /mavros/landing_target/camera/fov_x: 2.0071286398 * /mavros/landing_target/camera/fov_y: 2.0071286398 * /mavros/landing_target/image/height: 480 * /mavros/landing_target/image/width: 640 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL * /mavros/landing_target/listen_lt: False * /mavros/landing_target/mav_frame: LOCAL_NED * /mavros/landing_target/target_size/x: 0.3 * /mavros/landing_target/target_size/y: 0.3 * /mavros/landing_target/tf/child_frame_id: camera_center * /mavros/landing_target/tf/frame_id: landing_target * /mavros/landing_target/tf/listen: False * /mavros/landing_target/tf/rate_limit: 10.0 * /mavros/landing_target/tf/send: True * /mavros/local_position/frame_id: map * /mavros/local_position/tf/child_frame_id: base_link * /mavros/local_position/tf/frame_id: map * /mavros/local_position/tf/send: False * /mavros/local_position/tf/send_fcu: False * /mavros/mission/pull_after_gcs: True * /mavros/mission/use_mission_item_int: True * /mavros/mocap/use_pose: True * /mavros/mocap/use_tf: False * /mavros/mount/debounce_s: 4.0 * /mavros/mount/err_threshold_deg: 10.0 * /mavros/mount/negate_measured_pitch: False * /mavros/mount/negate_measured_roll: False * /mavros/mount/negate_measured_yaw: False * /mavros/odometry/fcu/odom_child_id_des: base_link * /mavros/odometry/fcu/odom_parent_id_des: map * /mavros/plugin_blacklist: ['safety_area', '... * /mavros/plugin_whitelist: [] * /mavros/px4flow/frame_id: px4flow * /mavros/px4flow/ranger_fov: 0.118682 * /mavros/px4flow/ranger_max_range: 5.0 * /mavros/px4flow/ranger_min_range: 0.3 * /mavros/safety_area/p1/x: 1.0 * /mavros/safety_area/p1/y: 1.0 * /mavros/safety_area/p1/z: 1.0 * /mavros/safety_area/p2/x: -1.0 * /mavros/safety_area/p2/y: -1.0 * /mavros/safety_area/p2/z: -1.0 * /mavros/setpoint_accel/send_force: False * /mavros/setpoint_attitude/reverse_thrust: False * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /mavros/setpoint_attitude/tf/frame_id: map * /mavros/setpoint_attitude/tf/listen: False * /mavros/setpoint_attitude/tf/rate_limit: 50.0 * /mavros/setpoint_attitude/use_quaternion: False * /mavros/setpoint_position/mav_frame: LOCAL_NED * /mavros/setpoint_position/tf/child_frame_id: target_position * /mavros/setpoint_position/tf/frame_id: map * /mavros/setpoint_position/tf/listen: False * /mavros/setpoint_position/tf/rate_limit: 50.0 * /mavros/setpoint_raw/thrust_scaling: 1.0 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED * /mavros/startup_px4_usb_quirk: False * /mavros/sys/disable_diag: False * /mavros/sys/min_voltage: 10.0 * /mavros/target_component_id: 1 * /mavros/target_system_id: 1 * /mavros/tdr_radio/low_rssi: 40 * /mavros/time/time_ref_source: fcu * /mavros/time/timesync_avg_alpha: 0.6 * /mavros/time/timesync_mode: MAVLINK * /mavros/vibration/frame_id: base_link * /mavros/vision_pose/tf/child_frame_id: vision_estimate * /mavros/vision_pose/tf/frame_id: odom * /mavros/vision_pose/tf/listen: False * /mavros/vision_pose/tf/rate_limit: 10.0 * /mavros/vision_speed/listen_twist: True * /mavros/vision_speed/twist_cov: True * /mavros/wheel_odometry/child_frame_id: base_link * /mavros/wheel_odometry/count: 2 * /mavros/wheel_odometry/frame_id: odom * /mavros/wheel_odometry/send_raw: True * /mavros/wheel_odometry/send_twist: False * /mavros/wheel_odometry/tf/child_frame_id: base_link * /mavros/wheel_odometry/tf/frame_id: odom * /mavros/wheel_odometry/tf/send: False * /mavros/wheel_odometry/use_rpm: False * /mavros/wheel_odometry/vel_error: 0.1 * /mavros/wheel_odometry/wheel0/radius: 0.05 * /mavros/wheel_odometry/wheel0/x: 0.0 * /mavros/wheel_odometry/wheel0/y: -0.15 * /mavros/wheel_odometry/wheel1/radius: 0.05 * /mavros/wheel_odometry/wheel1/x: 0.0 * /mavros/wheel_odometry/wheel1/y: 0.15 * /rosdistro: noetic * /rosversion: 1.15.14 NODES / mavros (mavros/mavros_node) ROS_MASTER_URI=http://localhost:11311 process[mavros-1]: started with pid [200795] [ INFO] [1682086520.296394532]: FCU URL: /dev/ttyUSB0:921600 [ INFO] [1682086520.297794449]: serial0: device: /dev/ttyUSB0 @ 921600 bps [ INFO] [1682086520.313562407]: GCS URL: udp://@192.168.3.169 [ INFO] [1682086520.313869555]: udp1: Bind address: 0.0.0.0:14555 [ INFO] [1682086520.313905401]: udp1: Remote address: 192.168.3.169:14550 [ INFO] [1682086520.322512592]: Plugin 3dr_radio loaded [ INFO] [1682086520.323607639]: Plugin 3dr_radio initialized [ INFO] [1682086520.323682642]: Plugin actuator_control loaded [ INFO] [1682086520.325633070]: Plugin actuator_control initialized [ INFO] [1682086520.330150500]: Plugin adsb loaded [ INFO] [1682086520.331708547]: Plugin adsb initialized [ INFO] [1682086520.331823394]: Plugin altitude loaded [ INFO] [1682086520.332357142]: Plugin altitude initialized [ INFO] [1682086520.332424580]: Plugin cam_imu_sync loaded [ INFO] [1682086520.332712902]: Plugin cam_imu_sync initialized [ INFO] [1682086520.332780083]: Plugin camera loaded [ INFO] [1682086520.333060754]: Plugin camera initialized [ INFO] [1682086520.333138637]: Plugin cellular_status loaded [ INFO] [1682086520.334165773]: Plugin cellular_status initialized [ INFO] [1682086520.334269746]: Plugin command loaded [ INFO] [1682086520.337549257]: Plugin command initialized [ INFO] [1682086520.337630793]: Plugin companion_process_status loaded [ INFO] [1682086520.338883584]: Plugin companion_process_status initialized [ INFO] [1682086520.338961553]: Plugin debug_value loaded [ INFO] [1682086520.341125643]: Plugin debug_value initialized [ INFO] [1682086520.341148037]: Plugin distance_sensor blacklisted [ INFO] [1682086520.341230820]: Plugin esc_status loaded [ INFO] [1682086520.342040554]: Plugin esc_status initialized [ INFO] [1682086520.342163610]: Plugin esc_telemetry loaded [ INFO] [1682086520.342632714]: Plugin esc_telemetry initialized [ INFO] [1682086520.342764668]: Plugin fake_gps loaded [ INFO] [1682086520.349407934]: Plugin fake_gps initialized [ INFO] [1682086520.349575047]: Plugin ftp loaded [ INFO] [1682086520.353590235]: Plugin ftp initialized [ INFO] [1682086520.353709853]: Plugin geofence loaded [ INFO] [1682086520.355815273]: Plugin geofence initialized [ INFO] [1682086520.355969965]: Plugin global_position loaded [ INFO] [1682086520.363373708]: Plugin global_position initialized [ INFO] [1682086520.363485074]: Plugin gps_input loaded [ INFO] [1682086520.364874030]: Plugin gps_input initialized [ INFO] [1682086520.364960897]: Plugin gps_rtk loaded [ INFO] [1682086520.366327847]: Plugin gps_rtk initialized [ INFO] [1682086520.366489071]: Plugin gps_status loaded [ INFO] [1682086520.367674724]: Plugin gps_status initialized [ INFO] [1682086520.367764556]: Plugin guided_target loaded [ INFO] [1682086520.369660569]: Plugin guided_target initialized [ INFO] [1682086520.369758782]: Plugin hil loaded [ INFO] [1682086520.375381188]: Plugin hil initialized [ INFO] [1682086520.375497626]: Plugin home_position loaded [ INFO] [1682086520.377134673]: Plugin home_position initialized [ INFO] [1682086520.377312231]: Plugin imu loaded [ INFO] [1682086520.380540680]: Plugin imu initialized [ INFO] [1682086520.380629652]: Plugin keyboard_command loaded [ INFO] [1682086520.382015385]: Plugin keyboard_command initialized [ INFO] [1682086520.382147511]: Plugin landing_target loaded [ INFO] [1682086520.389228031]: Plugin landing_target initialized [ INFO] [1682086520.389344125]: Plugin local_position loaded [ INFO] [1682086520.392058683]: Plugin local_position initialized [ INFO] [1682086520.392156553]: Plugin log_transfer loaded [ INFO] [1682086520.394344283]: Plugin log_transfer initialized [ INFO] [1682086520.394443958]: Plugin mag_calibration_status loaded [ INFO] [1682086520.395048454]: Plugin mag_calibration_status initialized [ INFO] [1682086520.395138844]: Plugin manual_control loaded [ INFO] [1682086520.396730847]: Plugin manual_control initialized [ INFO] [1682086520.396810235]: Plugin mocap_pose_estimate loaded [ INFO] [1682086520.398326976]: Plugin mocap_pose_estimate initialized [ INFO] [1682086520.398407567]: Plugin mount_control loaded [ WARN] [1682086520.400640041]: Could not retrive negate_measured_roll parameter value, using default (0) [ WARN] [1682086520.400818803]: Could not retrive negate_measured_pitch parameter value, using default (0) [ WARN] [1682086520.401010630]: Could not retrive negate_measured_yaw parameter value, using default (0) [ WARN] [1682086520.401585899]: Could not retrive debounce_s parameter value, using default (4.000000) [ WARN] [1682086520.401760405]: Could not retrive err_threshold_deg parameter value, using default (10.000000) [ INFO] [1682086520.401812026]: Plugin mount_control initialized [ INFO] [1682086520.401896743]: Plugin nav_controller_output loaded [ INFO] [1682086520.402223491]: Plugin nav_controller_output initialized [ INFO] [1682086520.402294798]: Plugin obstacle_distance loaded [ INFO] [1682086520.403531255]: Plugin obstacle_distance initialized [ INFO] [1682086520.403606430]: Plugin odom loaded [ INFO] [1682086520.405627649]: Plugin odom initialized [ INFO] [1682086520.405707810]: Plugin onboard_computer_status loaded [ INFO] [1682086520.406724071]: Plugin onboard_computer_status initialized [ INFO] [1682086520.406863161]: Plugin param loaded [ INFO] [1682086520.408710260]: Plugin param initialized [ INFO] [1682086520.408859278]: Plugin play_tune loaded [ INFO] [1682086520.410137987]: Plugin play_tune initialized [ INFO] [1682086520.410257605]: Plugin px4flow loaded [ INFO] [1682086520.414057024]: Plugin px4flow initialized [ INFO] [1682086520.414194264]: Plugin rallypoint loaded [ INFO] [1682086520.415857574]: Plugin rallypoint initialized [ INFO] [1682086520.415894409]: Plugin rangefinder blacklisted [ INFO] [1682086520.416043900]: Plugin rc_io loaded [ INFO] [1682086520.418113001]: Plugin rc_io initialized [ INFO] [1682086520.418160023]: Plugin safety_area blacklisted [ INFO] [1682086520.418268681]: Plugin setpoint_accel loaded [ INFO] [1682086520.419665030]: Plugin setpoint_accel initialized [ INFO] [1682086520.419853849]: Plugin setpoint_attitude loaded [ INFO] [1682086520.425026622]: Plugin setpoint_attitude initialized [ INFO] [1682086520.425162789]: Plugin setpoint_position loaded [ INFO] [1682086520.432297337]: Plugin setpoint_position initialized [ INFO] [1682086520.432422371]: Plugin setpoint_raw loaded [ INFO] [1682086520.437363429]: Plugin setpoint_raw initialized [ INFO] [1682086520.437490354]: Plugin setpoint_trajectory loaded [ INFO] [1682086520.439999459]: Plugin setpoint_trajectory initialized [ INFO] [1682086520.440247765]: Plugin setpoint_velocity loaded [ INFO] [1682086520.444032699]: Plugin setpoint_velocity initialized [ INFO] [1682086520.444457015]: Plugin sys_status loaded [ INFO] [1682086520.451360107]: Plugin sys_status initialized [ INFO] [1682086520.451515787]: Plugin sys_time loaded [ INFO] [1682086520.453720065]: TM: Timesync mode: MAVLINK [ INFO] [1682086520.453915116]: TM: Not publishing sim time [ INFO] [1682086520.454415854]: Plugin sys_time initialized [ INFO] [1682086520.454514369]: Plugin terrain loaded [ INFO] [1682086520.454810771]: Plugin terrain initialized [ INFO] [1682086520.454879929]: Plugin trajectory loaded [ INFO] [1682086520.457155213]: Plugin trajectory initialized [ INFO] [1682086520.457236363]: Plugin tunnel loaded [ INFO] [1682086520.458721083]: Plugin tunnel initialized [ INFO] [1682086520.458839713]: Plugin vfr_hud loaded [ INFO] [1682086520.459211204]: Plugin vfr_hud initialized [ INFO] [1682086520.459237724]: Plugin vibration blacklisted [ INFO] [1682086520.459315091]: Plugin vision_pose_estimate loaded [ INFO] [1682086520.462900246]: Plugin vision_pose_estimate initialized [ INFO] [1682086520.462993301]: Plugin vision_speed_estimate loaded [ INFO] [1682086520.464535660]: Plugin vision_speed_estimate initialized [ INFO] [1682086520.464629575]: Plugin waypoint loaded [ INFO] [1682086520.467631983]: Plugin waypoint initialized [ INFO] [1682086520.467666368]: Plugin wheel_odometry blacklisted [ INFO] [1682086520.467749581]: Plugin wind_estimation loaded [ INFO] [1682086520.468246708]: Plugin wind_estimation initialized [ INFO] [1682086520.468526950]: Built-in SIMD instructions: ARM NEON [ INFO] [1682086520.468562581]: Built-in MAVLink package version: 2022.12.30 [ INFO] [1682086520.468587081]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta [ INFO] [1682086520.468620994]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1682086520.468657227]: udp1: Remote address: 192.168.3.169:14550 [ INFO] [1682086520.469185259]: IMU: High resolution IMU detected! [ INFO] [1682086520.469452348]: IMU: Attitude quaternion IMU detected! [ INFO] [1682086520.665288795]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1682086520.676228736]: IMU: High resolution IMU detected! [ INFO] [1682086520.676465179]: IMU: Attitude quaternion IMU detected! [ INFO] [1682086520.893204662]: FCU: Manual control regained after 12.5s [ INFO] [1682086520.945622551]: FCU: Data link regained [ INFO] [1682086521.460505511]: FCU: Onboard controller regained [ INFO] [1682086521.671006917]: GF: Using MISSION_ITEM_INT [ INFO] [1682086521.671065845]: RP: Using MISSION_ITEM_INT [ INFO] [1682086521.671090473]: WP: Using MISSION_ITEM_INT [ INFO] [1682086521.671106721]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1682086521.671130618]: VER: 1.1: Flight software: 010c0300 (c6186ac04a000000) [ INFO] [1682086521.671146866]: VER: 1.1: Middleware software: 010c0300 (c6186ac04a000000) [ INFO] [1682086521.671157998]: VER: 1.1: OS software: 080200ff (bf660cba2af81f05) [ INFO] [1682086521.671179274]: VER: 1.1: Board hardware: 00000032 [ INFO] [1682086521.671199174]: VER: 1.1: VID/PID: 26ac:0032 [ INFO] [1682086521.671223244]: VER: 1.1: UID: 3138511635333837 [ WARN] [1682086521.673975325]: CMD: Unexpected command 520, result 0 [ INFO] [1682086530.666204872]: HP: requesting home position [ WARN] [1682086532.803352081]: Detected jump back in time of 1.20831s. Clearing TF buffer. [ INFO] [1682086535.670007956]: GF: mission received [ INFO] [1682086535.670779771]: RP: mission received [ INFO] [1682086535.671012800]: WP: mission received [ INFO] [1682086540.666352436]: HP: requesting home position [ INFO] [1682086550.666470368]: HP: requesting home position [ INFO] [1682086560.666625094]: HP: requesting home position [ INFO] [1682086570.667340168]: HP: requesting home position ``` ## Expected behavior The state of the state estimator(EKF) should directly have a simple coordinate transformation relationship with the external visual position data. ## Log Files and Screenshots The log is [here](https://logs.px4.io/plot_app?log=619471cd-d628-4cfa-b4a0-040d6921e6b8) As shown by the Visual Odometry position data, I pick up the plane, go east, go back near the origin, then go north, return to the origin and put down the plane. The data released by optitrack has been set correctly. At this time, the yaw angle is close to 75 degrees, so roughly the local position data should be exchanged with the x and y axes of the Visual Odometry position data (of course, the z axis is opposite). But the log shows that this is not the case. ![bokeh_plot](https://user-images.githubusercontent.com/43166007/233691907-d61f7ce8-65ce-4dd2-bda4-c0fa3858301c.png) ![bokeh_plot (1)](https://user-images.githubusercontent.com/43166007/233691947-30213801-ae42-413d-b463-90c543e6c9b3.png) ![bokeh_plot (2)](https://user-images.githubusercontent.com/43166007/233691975-feb52f31-6c51-412c-af50-6e2d9c9fe670.png) ![bokeh_plot (3)](https://user-images.githubusercontent.com/43166007/233691997-b463d69f-5ea5-4890-86d0-01064383a7f6.png) ## Drone (please complete the following information): - fmu-v5, v1.12.3, CUAV V5+ . - mavros 1.15, ros noetic, ubuntu20, [vrpn_client_ros on kinetic-devel branch](https://github.com/ros-drivers/vrpn_client_ros/tree/kinetic-devel) (I couldn't find a noetic version, so that shouldn't be a problem.) - everything is install by [guiden](https://docs.px4.io/main/en/ros/mavros_installation.html) <img width="688" alt="image" src="https://user-images.githubusercontent.com/43166007/233692447-ae522d2c-d6c0-42db-bf4a-81d9200324d8.png">

Also may be related:

github.com/PX4/PX4-Autopilot

Problems when trying to fuse VIO data with uXRCE-DDS Bridge

opened 03:35AM - 23 May 23 UTC

ripdk12

VIO 🤖 ROS 2

I've written a ROS2 node that sends VIO data to the /fmu/in/vehicle_visual_odome…try topic using the uXRCE-DDS bridge. To test that the fusion is handled correctly I've created a stationary flight [log](https://review.px4.io/plot_app?log=ad9f86fb-c57f-4a05-9d33-bcb5775c87bb), and I noticed by reading the /fmu/out/vehicle_odometry topic (vehicle_odometry uORB message), that the estimator jumps between what is perceived by the VIO and the internal (GPS+IMU) odometry. Here is an example of a message that is sent to PX4: ``` timestamp: 1884348743 timestamp_sample: 1884348745 pose_frame: 2 position: - 0.3625916540622711 - 0.2121472805738449 - 0.06812606006860733 q: - 0.9994385838508606 - -2.914839751610998e-05 - 0.03003314882516861 - -0.014851653948426247 velocity_frame: 2 velocity: - -0.0002751341671682894 - -0.00013385475904215127 - -0.0017852116143330932 angular_velocity: - -7.331899541895837e-05 - -1.2296965905989055e-05 - 8.007127325981855e-05 position_variance: - 2.4092826692023728e-11 - 1.7808475180625116e-11 - 2.919307684479122e-09 orientation_variance: - 5.31228099703851e-12 - 1.589840048889582e-13 - 5.67606378565344e-12 velocity_variance: - 6.862764507786778e-07 - 3.4139620019857375e-09 - 2.808655779062974e-07 reset_counter: 0 quality: 0 ``` I also noticed that there seems to be a Visual Odometry Latency issue, something I've noticed is a recurring issue [here](https://github.com/PX4/PX4-Autopilot/issues/21504#issuecomment-1518694539) and [here](https://github.com/PX4/PX4-Autopilot/issues/21468#issuecomment-1507419859), though I see no explanation of how to fix this timestamp issue, or even if it makes any difference. ![image](https://github.com/PX4/PX4-Autopilot/assets/19560817/bd14bd8b-8705-491e-852a-ffa722d6ec72) Should it be unix time? I simply copied the timestamp from the advertiser [example](https://github.com/PX4/px4_ros_com/blob/main/src/examples/advertisers/debug_vect_advertiser.cpp#LL56C78-L56C78) from the px4_ros_com package: ```odometry_msg.timestamp = std::chrono::time_point_cast<std::chrono::microseconds>(std::chrono::steady_clock::now()).time_since_epoch().count();``` In the following image you can see exactly when the estimator stops fusing the yaw data of the VIO, followed by the position estimation drifting, and then suddenly snaps back: ![image](https://github.com/PX4/PX4-Autopilot/assets/19560817/bcd3e3f7-591f-4045-bda5-ac27569250b7) I obviously don't dare to do any real flight tests with the system this unstable. @bresch wrote [this](https://github.com/PX4/PX4-Autopilot/issues/21504#issuecomment-1547451984) response to a similar issue #21504. However, I am actually sending in the FRD MAV_FRAME, so the solution that is suggested doesn't work for me. Any help would be greatly appreciated, thanks!