Poor performance flying outdoors with no GPS
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When trying to fly a GPS denied mission with the m500 drone, the vehicle suffers from poor VIO flight. It does not follow the mission route properly, it will fly past its waypoints, all the while losing altitude. When looking at the QVIO stream during the mission we see that we have plenty of points but we're not getting good flight performance.
What can we do to improve this?
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VIO is a dead reckoning system, so it will never be perfect. The performance is highly dependent on the environment.
The quality metric is intended to help understand when the system is working well. Is quality staying reasonably high?
Maybe try flying slower to isolate where the issues are? Maybe a lower altitude?
Long range, outdoor VIO flight is a very complex topic that's ongoing in research
voxl-logger can be used to log data and analyze offline
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we tried a few different altitudes ranging from 30 feet AGL to 100 at 5 m/s. Same result. These test flights weren't long rang, the entire mission was only 2 waypoints, approximately 250 feet length mission. We'll try these test flights again using voxl-logger and try and diagnose the issues we're having.
