@zauberflote1 Hi,
So, it’s almost impossible for OpenVINS’ VIO to successfully reset while the drone is in flight if even a simple hand movement (which I always tried to do gently) is enough to prevent proper reinitialization, right?
What I used to do to break the VIO was cover the camera, wait for x, y, and z to return to zero, and then uncover it.
As for the test environment, it's rich in features, so I don't think that's the issue.
I increased the publish and tracking frequency because I wanted to ensure the VIO was "responsive," and with two or three cameras, I consistently achieved reliable results.