@YUUJI-INOUE
Hello there,
Here are a few things to be aware of:
- VVHUB "Error" for missing extrinsics for imu_body
This is not really an error, just tells you that the IMU in body frame and the body frame itself are connected by the identity. In other words, there's no transformation needed for the IMU data from VVHUB standpoint.
- Position Mode not engaging
Assuming you're able to get the drone arming in Manual/Altitude mode. Are you using VFC in your VVHUB conf or using the classic PX4 position mode? -- If your drone resembles the Stinger D0013, VFC is the suggested format. -- you can use the wizard to configure VVHUB accordingly. Can you confirm your VVHUB setup? Please attach your vision-hub and vfc .conf
- VIO not working
As you described, different frames, different noise characterization. You can change the IMU noise values inside the kalibr_imu_chain.yaml (in the directory you found estimator.yaml). Personally based on your description, I am inclined to believe your performance issue is rooted in your extrinsics values and VVHUB configuration. Did you use Kalibr? -- If you used Kalibr with imu_body pipe, all you have to do is to replace the SE(3) elements inside kalibr_imucam_chain.yaml and make sure the sync_config flag inside voxl-open-vins-server.conf is set to false. Otherwise, unless you have a proper CAD model, physically measured values will likely be inaccurate and cause the estimator to diverge. For future help, please attach all your VIO-related yamls and your voxl-open-vins-server.conf
All the best,
ZBFT