Topics created by Anton Gereles

This is also something that we've done extensive testing with. In short, yawing can actually be one of the most reliable motions if the field of view of the camera is set up correctly. Our standard tracking sensor has a 166° diagonal/100° vertical field of view. We mount the camera at 45° down from the horizon, so the bottom of the image will be ~5° past straight down, and the corners of the frame will stretch farther into the backwards left/right swaths of area. The result of this is that yawing in place actually maintains a lot of features directly below the drone, where the bottom 10° arc will always be in view and the farther up features will stay in view for a long time. If there are a reasonable amount of features in the bottom say 20-25° below the drone it'll maintain a very robust position and yaw estimate.

However, the behavior that you're probably thinking of can also happen. We've experimented on some of our other cameras that have a wide (though not as wide as the fisheye (84° vertical)) field of view also mounted at 45° below level. The result here is that the bottom of the frame ends a couple of degrees above straight down, and so that super reliable zone of features always in view doesn't exist, and the pretty reliable zone is also much smaller. The yawing in this situation can be very unreliable, and the filter can often blow up rather quickly if not also moving during the yaw. Similarly, yawing in place with little to no features directly below you will show the same behavior, and the feature tracker will struggle to track the rapidly moving horizon-level features and can blow up.

We've also done tests with the fisheye sensor mounted straight forward which resulted in the same behavior as in the second paragraph, where the lack of downward features led to us being unable to yaw in place.

TL;DR: Yawing in place without translation as well needs to see features very close to the axis of rotation or else the filter will blow up. This can be achieved with a combination of wide fields of view and aiming the sensor not level with the horizon.

Have you looked through the troubleshooting VIO doc? https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

@Anton-Gereles Try to upload these parameters - https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/blob/master/helpers/m500/ekf2_indoor_vio.params

This will allow you to fly outdoors without GPS using VIO.

I think this is what you are looking for? https://docs.modalai.com/flying-without-gps/

Hi @Anton-Gereles ,
Can you please elaborate on your platform and specific problems you are having?
I'm sure our Software team will want to know that to respond appropriately.

That being said, our components and hardware elements are all at least rated for 0-70C, with many of them exceeding that. However, be mindful that is a non-condensing requirement.
If you are operating in extremes (we have many customers that do), you need to be mindful of condensation risks. Rapid change in temp from a "room temp" building into an outdoor setting with high humidity and much colder temps (and especially vice versa) can create condensation.
In these types of environments, you may need to provide some type of enclosure to protect the electronics against this build-up.
Also, our products are not dust and particle ingress resistant as a default, again this would be something we leave our customers to define for their industrial/mechanical design requirements for an enclosure.
Hope that helps and if you do provide more failure info, our SW team could respond.
Thanks!