How to tune OpenVins
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We are testing with the new SDK1.14 and the OpenVins implementation.
The basic test that we're doing is taking off to 1m and staying there.
What we did see is that out of 50 tests that we did, only 10 were relatively correct. The other ones where going a lot higher.Hereby 2 flight logs that you can check :
Bad flight : https://review.px4.io/plot_app?log=5e809b1e-3473-425c-8d42-9dce0472b1ef
Good flight :https://review.px4.io/plot_app?log=9fdb3a61-3e4d-4eb2-9b35-10072e665f28How can we tune the performance and accuracy of indoor flights?
Can we get some technical help on this, please? -
@Kessie Hi there, can you please post your vio_cams.conf file?
So far is appears the Quality of the vio data is degrading in both flights, just faster in the bad flight. Is there a reason to sit in the takeoff state (on ground, motors spinning) for 20+ seconds? A scenario like that will create a level of vibration/movement in the cameras where ovins will start to pick up false positive features creating instability. We can increase the threshold for takeoff, but may give an undesirable offset of a origin (0,0,0 maybe 1/2m above the ground for example). You can first try increasing the following values by 50% increments:
"zupt_max_velocity": 0.03,
"zupt_noise_multiplier": 1,Hence:
"zupt_max_velocity": 0.045,
"zupt_noise_multiplier": 1.5,And see if that improves.
