Hi everyone,
I did a test flight today using VIO (Visual Inertial Odometry) on my drone and encountered a complex issue. I am hoping someone can help me understand what went wrong.
Here is the timeline of the event:
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VIO Divergence: At exactly 458 seconds into the flight, the VIO clearly began to diverge.
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Emergency Action: Seeing the divergence, I immediately switched the flight mode to AltHold. I then manually disabled the VIO node to stop it from publishing visual odometry messages to the flight controller.
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Throttle Issue: Once in AltHold with the VIO node disabled, the drone completely stopped responding to my throttle inputs.
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Rangefinder Glitch: I should also mention that I am running a ToF (Time of Flight) rangefinder. For some reason, the ToF data became stuck at exactly 2 meters. However, according to the logs, this frozen rangefinder data was still being fused by the EKF.
My questions:
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Has anyone experienced a loss of throttle control in AltHold after killing a VIO node mid-flight?
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Could the EKF be ignoring my throttle inputs because it is fusing the stuck (2m) ToF data, thinking the drone is maintaining a perfect altitude?
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did the div at at vio system can change the hte value and change my thurttle value
Any advice on how to debug this not stable altitude hold situation ?