Open-vins low quality not going into altitude
-
Hello all, I was doing a bit of testing with voxl-open-vins-server and noticed an issue where the PX4 flight mode remains in position mode when the quality dropped below the the EKF2_EV_QMIN. I am seeing that QGC is sending a message saying that the system is falling back into altitude mode, but the flight mode never changes. I changed the PX4 parameter for EKF2_EV_QMIN to 90, however it seems to stay in position mode even though when I look at the PX4 logs the VIO quality drops below the QMIN value. I tested qvio to see if this was a voxl-px4 issue, but voxl-qvio-server switches into altitude mode when the quality drops below the the QMIN value. My question is why is it that when Open-vins reports that the quality is less than the QMIN it stays in position mode?
Thank you for your time,
Aaron Porter