I’m working with the ARK Flow rangefinder/optical flow sensor, and when I’m near the edges of buildings/cars/etc, the drone bounces (like it’s detecting two heights). This would make sense if the rangefinder was enabled, but I have EKF2_RNG_CTRL = 0. However, UAVCAN_SUB_RNG = 1 so perhaps this is overriding EKF2_RNG_CTRL and using the rangefinder anyway? Perhaps I’m missing another parameter somewhere, but to me it looks like it might be a bug.
I’m using a custom build of PX4 1.15.4, but the only changes are to enable the EchoPilot AI board I’m using (from the manufacturer), and a couple lines that hardcode UAVCAN NodeID = 50 to have its direction as “ROTATION_FORWARD_FACING” instead of “ROTATION_DOWNWARD_FACING”. I don’t think these changes would affect this, but wanted to mention for completeness.
Here’s a link to the log that shows this behavior (@ ~23:30): https://review.px4.io/plot_app?log=fddffe40-3c17-48c3-8dca-35360a7a3420