Unable to get Starling to navigate obstacle course

[achanana]

Hello,

My team is trying to use the Starling to navigate a flag obstacle course, here's a video of what we're trying to do. Unfortunately we've had trouble instructing the Starling to fly straight using the mapper:

• When we instruct it to fly in a straight direction using the axes it always goes 80 degrees to the right instead. We've ensured that all the relevant services are up and also tried modifying the extrinsics to no avail. Specifically, we tried changing the first value of the ToF intrinsics to 90. We also saw in the camera view that the ToF camera seems to be rotated 90 degrees, in the following image the drone was pointed forward parallel to the ground but the monitor and keyboard appear rotated left by 90 degrees:
  

• We also were wondering if it is necessary to map out the area manually before we fly the Starling autonomously through it (point-to-point navigation). To get the flags (see linked video) to appear in the mapper we've tried to fly it close to them so that the ToF camera can help map it out.

• We've also noticed that sometimes in position hold mode the Starling veers off and starts ascending and heading elsewhere, incorrectly assuming that it needs to be somewhere else. In these cases we've had to manually counter these actuations and get the Starling to land, disarm, and then fly again.

I appreciate your help! Thanks for your time.