Hi Troi, thank you for the feedback. We will take this into account

Thanks @Eloi for your suggestions. We are actively working to improve our cables, cable design methods, customer communication on cables, and our image sensor flexes. It's a task we take seriously and want to improve upon. However, it is doubtful we can use ZIF style connectors for our platforms or be able to use COTS ZIF/FFC ribbon cables. They are the least vibe/shock tolerant of any connector class which require a lot of mechanical backing support to stay latched and engaged (and it must be movable to allow insertion and removal), thus adding weight, complexity, and size to the drone. All of our image sensor flexes are also high-tech flex circuit assemblies, with power routing, specific ground plane control, EMI shielding, and high-speed impedance control, neither of which can be obtained from COTS FFC parts. Hope that partly explains why we do not normally use FFC/ZIF parts.

This is also something that we've done extensive testing with. In short, yawing can actually be one of the most reliable motions if the field of view of the camera is set up correctly. Our standard tracking sensor has a 166° diagonal/100° vertical field of view. We mount the camera at 45° down from the horizon, so the bottom of the image will be ~5° past straight down, and the corners of the frame will stretch farther into the backwards left/right swaths of area. The result of this is that yawing in place actually maintains a lot of features directly below the drone, where the bottom 10° arc will always be in view and the farther up features will stay in view for a long time. If there are a reasonable amount of features in the bottom say 20-25° below the drone it'll maintain a very robust position and yaw estimate. However, the behavior that you're probably thinking of can also happen. We've experimented on some of our other cameras that have a wide (though not as wide as the fisheye (84° vertical)) field of view also mounted at 45° below level. The result here is that the bottom of the frame ends a couple of degrees above straight down, and so that super reliable zone of features always in view doesn't exist, and the pretty reliable zone is also much smaller. The yawing in this situation can be very unreliable, and the filter can often blow up rather quickly if not also moving during the yaw. Similarly, yawing in place with little to no features directly below you will show the same behavior, and the feature tracker will struggle to track the rapidly moving horizon-level features and can blow up. We've also done tests with the fisheye sensor mounted straight forward which resulted in the same behavior as in the second paragraph, where the lack of downward features led to us being unable to yaw in place. TL;DR: Yawing in place without translation as well needs to see features very close to the axis of rotation or else the filter will blow up. This can be achieved with a combination of wide fields of view and aiming the sensor not level with the horizon.

@modaltb said in Get PX4 not to flag GPS error when none is connected/using VIO: Hi @hmlow , Thanks for the feedback, which version of PX4 are you running? Trying to track this down. Thanks! Hi Im using ModalAI 1.11.3-0.2.3. As a workaround i disabled the overlaid message in QGC by rebuilding a custom version of QGC.

Hi Steve, Thank you so much for these links. They will help me.

Thanks a lot! I'll look into that. Thanks again