Understanding QVIO

hmlow

Hi all

I've managed to re-orientate the tracking camera from the original 45 deg pitch down into one that is looking straight ahead.

My flights are predominantly indoors and the drone performs fantastically in an apartment/cluttered environment.

But i noticed that it drifts in almost all 3 axis when travelling down an empty hallway/corridor although the walls are feature rich.

Most of the feature points tracked by QVIO seems to be further down at the end of the hallway and i suspect that to be the cause of the poor performance. Could anymore explain why that is the case (the mechanisms) and what i could do to improve the situation?

Thanks alot!

Chad Sweet

Have you read through the docs on how to debug VIO? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

hmlow

@Chad-Sweet yes I have!

In fact, I'm quite certain that it has been configured properly and the vibration levels are manageable.

As I have said, my flights are predominantly indoors and the drone performs fantastically in an apartment/cluttered environment.

But i noticed that it drifts in almost all 3 axis when travelling down an empty hallway/corridor and the feature points tracked by QVIO seems to be further down at the end of the hallway (more than 20-30m away)