VIO altitude estimation error



  • Hello Everyone,

    Problem: During an autonomous mission outdoor, VIO failed to estimate the correct altitude of the copter. VIO was estimating an altitude of around 1.5-2.5 meters while it was ~4.5 meters in reality.

    I am using the following hardware:

    ModalAI m500 with no hardware modifications

    Log file:
    https://review.px4.io/plot_app?log=24a66118-0151-4b7a-9477-0858c375fc88

    Relevant Parameters:

    EKF2_AID_MASK = 1 (GPS only)
    EKF2_HGT_MODE = vision (using VIO/Tracking camera)

    My Observations:

    The drone took off more aggressively than usual, which probably caused some confusion in the VIO altitude estimation.

    Hope someone can help.

    Victor



  • It is likely there were not stable visual features on takeoff. A field of grass is not that great for visual feature tracking. You could try putting something in front of the drone on the ground for it to look at and see if that helps


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