ekf2 + vision error #12463
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@mhkabir :) |
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I just figure that out.The solve is using vision position directly,don't fuse it with ekf2. My drone fly much stable now. I don't think they fuse vision by a proper way. You just need to use vision position in your out control loop |
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@JenaEmz Hello Jena, I am having a very similar issue. I saw that you were able to resolve it, but I dont understand your resolution. Can you expand upon that a bit? |
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Describe the bug
When viewing the mavros/local_position/pose value, Even if you stay still, you lose your position.
Is this a slam problem or a connection speed problem with the pixhawk and tx2 board?
At first, it shows the correct position value, but after a while, x y is fixed at zero
There are many of these questions, but all of them have not been solved.
I installed the firmware version of px4fmu_v2 1.8.0
Pixhawk2 + jetson tx2
And ekf2_aid_mask 8 (only vision fusion)
sys_companion (921600)
ekf2_eva_Noise 0.20
ekf2_evp_Noise 0.20
ekf2_ev_delay 50.0ms
ekf2_hgt_mode baro
I watched the paramedics
To Reproduce
Steps to reproduce the behavior:
Expected behavior
Why is the x y value initialized to zero?
Log Files and Screenshots
https://logs.px4.io/plot_app?log=18d1669c-2906-405f-ad07-a0a8757d27ae
Add screenshots to help explain your problem.
Drone (please complete the following information):
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES
/
mavros (mavros/mavros_node)
ROS_MASTER_URI=http://localhost:11311
process[mavros-1]: started with pid [8433]
[ INFO] [1562833794.130340252]: FCU URL: /dev/ttyTHS1:921600
[ INFO] [1562833794.133698132]: serial0: device: /dev/ttyTHS1 @ 921600 bps
[ INFO] [1562833794.144271449]: GCS URL: udp://:14551@192.168.0.50:14551
[ INFO] [1562833794.144635757]: udp1: Bind address: 0.0.0.0:14551
[ INFO] [1562833794.144775733]: udp1: Remote address: 192.168.0.50:14551
[ INFO] [1562833794.194044201]: Plugin 3dr_radio loaded
[ INFO] [1562833794.207844768]: Plugin 3dr_radio initialized
[ INFO] [1562833794.208029994]: Plugin actuator_control loaded
[ INFO] [1562833794.223757195]: Plugin actuator_control initialized
[ INFO] [1562833794.232957540]: Plugin adsb loaded
[ INFO] [1562833794.248657699]: Plugin adsb initialized
[ INFO] [1562833794.249055833]: Plugin altitude loaded
[ INFO] [1562833794.254389886]: Plugin altitude initialized
[ INFO] [1562833794.254649261]: Plugin cam_imu_sync loaded
[ INFO] [1562833794.257795674]: Plugin cam_imu_sync initialized
[ INFO] [1562833794.258149453]: Plugin command loaded
[ INFO] [1562833794.285167642]: Plugin command initialized
[ INFO] [1562833794.285640244]: Plugin companion_process_status loaded
[ INFO] [1562833794.321122194]: Plugin companion_process_status initialized
[ INFO] [1562833794.321406690]: Plugin debug_value loaded
[ INFO] [1562833794.353694641]: Plugin debug_value initialized
[ INFO] [1562833794.353782134]: Plugin distance_sensor blacklisted
[ INFO] [1562833794.354165803]: Plugin fake_gps loaded
[ERROR] [1562833794.429272875]: No pose source!
[ INFO] [1562833794.429360464]: Plugin fake_gps initialized
[ INFO] [1562833794.429626591]: Plugin ftp loaded
[ INFO] [1562833794.463726161]: Plugin ftp initialized
[ INFO] [1562833794.464293872]: Plugin global_position loaded
[ INFO] [1562833794.567884782]: Plugin global_position initialized
[ INFO] [1562833794.568140700]: Plugin gps_rtk loaded
[ INFO] [1562833794.578616412]: Plugin gps_rtk initialized
[ INFO] [1562833794.578911468]: Plugin hil loaded
[ INFO] [1562833794.653666426]: Plugin hil initialized
[ INFO] [1562833794.654273979]: Plugin home_position loaded
[ INFO] [1562833794.672360477]: Plugin home_position initialized
[ INFO] [1562833794.673046723]: Plugin imu loaded
[ INFO] [1562833794.711945181]: Plugin imu initialized
[ INFO] [1562833794.712511708]: Plugin landing_target loaded
[ INFO] [1562833794.798226180]: Plugin landing_target initialized
[ INFO] [1562833794.798711294]: Plugin local_position loaded
[ INFO] [1562833794.841765021]: Plugin local_position initialized
[ INFO] [1562833794.842046412]: Plugin log_transfer loaded
[ INFO] [1562833794.852325697]: Plugin log_transfer initialized
[ INFO] [1562833794.852625330]: Plugin manual_control loaded
[ INFO] [1562833794.861879150]: Plugin manual_control initialized
[ INFO] [1562833794.862160478]: Plugin mocap_pose_estimate loaded
[ERROR] [1562833794.870789496]: Use one motion capture source.
[ INFO] [1562833794.870888190]: Plugin mocap_pose_estimate initialized
[ INFO] [1562833794.871129899]: Plugin obstacle_distance loaded
[ INFO] [1562833794.887355975]: Plugin obstacle_distance initialized
[ INFO] [1562833794.887645207]: Plugin odom loaded
[ INFO] [1562833794.929173185]: Plugin odom initialized
[ INFO] [1562833794.929706943]: Plugin param loaded
[ INFO] [1562833794.941342974]: Plugin param initialized
[ INFO] [1562833794.941716659]: Plugin px4flow loaded
[ INFO] [1562833794.977737839]: Plugin px4flow initialized
[ INFO] [1562833794.977893719]: Plugin rangefinder blacklisted
[ INFO] [1562833794.978283533]: Plugin rc_io loaded
[ INFO] [1562833795.006652740]: Plugin rc_io initialized
[ INFO] [1562833795.006773035]: Plugin safety_area blacklisted
[ INFO] [1562833795.007158016]: Plugin setpoint_accel loaded
[ INFO] [1562833795.026714420]: Plugin setpoint_accel initialized
[ INFO] [1562833795.027054631]: Plugin setpoint_attitude loaded
[ INFO] [1562833795.086418442]: Plugin setpoint_attitude initialized
[ INFO] [1562833795.086894276]: Plugin setpoint_position loaded
[ INFO] [1562833795.160059230]: Plugin setpoint_position initialized
[ INFO] [1562833795.160500054]: Plugin setpoint_raw loaded
[ INFO] [1562833795.212144848]: Plugin setpoint_raw initialized
[ INFO] [1562833795.212468354]: Plugin setpoint_velocity loaded
[ INFO] [1562833795.241865427]: Plugin setpoint_velocity initialized
[ INFO] [1562833795.242209990]: Plugin sys_status loaded
[ INFO] [1562833795.292462644]: Plugin sys_status initialized
[ INFO] [1562833795.292763780]: Plugin sys_time loaded
[ INFO] [1562833795.317644573]: TM: Timesync mode: MAVLINK
[ INFO] [1562833795.327828750]: Plugin sys_time initialized
[ INFO] [1562833795.328111101]: Plugin trajectory loaded
[ INFO] [1562833795.362818259]: Plugin trajectory initialized
[ INFO] [1562833795.363169830]: Plugin vfr_hud loaded
[ INFO] [1562833795.365557514]: Plugin vfr_hud initialized
[ INFO] [1562833795.365651951]: Plugin vibration blacklisted
[ INFO] [1562833795.365878492]: Plugin vision_pose_estimate loaded
[ INFO] [1562833795.414633270]: Plugin vision_pose_estimate initialized
[ INFO] [1562833795.414931655]: Plugin vision_speed_estimate loaded
[ INFO] [1562833795.433612139]: Plugin vision_speed_estimate initialized
[ INFO] [1562833795.433929340]: Plugin waypoint loaded
[ INFO] [1562833795.454146197]: Plugin waypoint initialized
[ INFO] [1562833795.454255195]: Plugin wheel_odometry blacklisted
[ INFO] [1562833795.454560683]: Plugin wind_estimation loaded
[ INFO] [1562833795.457222782]: Plugin wind_estimation initialized
[ INFO] [1562833795.457461995]: Built-in SIMD instructions: ARM NEON
[ INFO] [1562833795.457549872]: Built-in MAVLink package version: 2019.6.7
[ INFO] [1562833795.457621524]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1562833795.457691416]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1562833795.465020203]: IMU: High resolution IMU detected!
[ INFO] [1562833795.467106622]: IMU: Attitude quaternion IMU detected!
[ERROR] [1562833795.474918156]: ODOM: Ex: The tf tree is invalid because it contains a loop.
Frame local_origin_ned exists with parent local_origin.
Frame fcu_frd exists with parent fcu.
Frame fcu exists with parent fcu_frd.
Frame mynteye_left_frame exists with parent mynteye_link.
Frame mynteye_right_frame exists with parent mynteye_left_frame.
Frame mynteye_left_rect_frame exists with parent mynteye_left_frame.
Frame mynteye_right_rect_frame exists with parent mynteye_right_frame.
Frame mynteye_disparity_frame exists with parent mynteye_left_frame.
Frame mynteye_disparity_norm_frame exists with parent mynteye_disparity_frame.
Frame mynteye_depth_frame exists with parent mynteye_left_frame.
Frame mynteye_points_frame exists with parent mynteye_left_frame.
Frame camera_imu_frame exists with parent mynteye_left_frame.
[ INFO] [1562833796.302940664]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1562833796.311897061]: IMU: High resolution IMU detected!
[ INFO] [1562833796.312096976]: IMU: Attitude quaternion IMU detected!
[ INFO] [1562833797.313536221]: VER: 1.1: Capabilities 0x000000000000e4ef
[ INFO] [1562833797.313649859]: VER: 1.1: Flight software: 01090000 (27ef1899c7000000)
[ INFO] [1562833797.313712550]: VER: 1.1: Middleware software: 01090000 (27ef1899c7000000)
[ INFO] [1562833797.313769450]: VER: 1.1: OS software: 071d00ff (a6f5881ea8513838)
[ INFO] [1562833797.313824173]: VER: 1.1: Board hardware: 00000011
[ INFO] [1562833797.314225603]: VER: 1.1: VID/PID: 26ac:0011
[ INFO] [1562833797.314370027]: VER: 1.1: UID: 3136510c34313630
[ WARN] [1562833797.315030735]: CMD: Unexpected command 520, result 0
[ INFO] [1562833806.303699379]: HP: requesting home position
[ INFO] [1562833811.309390156]: WP: mission received
[ INFO] [1562833816.304163296]: HP: requesting home position
[ INFO] [1562833826.304121341]: HP: requesting home position
[ INFO] [1562833836.303608103]: HP: requesting home position
[ INFO] [1562833846.304631021]: HP: requesting home position
[ INFO] [1562833856.304095432]: HP: requesting home position
[ INFO] [1562833866.303747057]: HP: requesting home position
[ INFO] [1562833876.303636068]: HP: requesting home position
[ INFO] [1562833886.303534918]: HP: requesting home position
[ INFO] [1562833896.304248784]: HP: requesting home position
Additional context
Add any other context about the problem here.
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