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When the EKF uses optical flow it provides a control scaler which is used by the position controller to limit the velocity feed-forward and acceleration. This works OK in calm conditions but if the wind is strong enough the control outputs are not enough to allow the vehicle to control its position and it drifts away
This can be reproduced in SITL by doing the following:
To solve this issue we have at least three choices:
add a bit to an option parameter to allow disabling the control limiting. PSC_OPTIONS (which doesn't exist yet) would be the most obvious place but other alterantives include FLOW_OPTIONS, EK3_SRC_OPTIONS or EK3_OPTIONS.
completely remove the EKF3 feature to impact the position controller scaling. This is very old code and it's unusual for the control and estimation systems to tell each other what to do
find a better method for the position controller to limit its response so that the flow sensor is not overwhelmed. this could include moving some code out of the EKF
The text was updated successfully, but these errors were encountered:
When the EKF uses optical flow it provides a control scaler which is used by the position controller to limit the velocity feed-forward and acceleration. This works OK in calm conditions but if the wind is strong enough the control outputs are not enough to allow the vehicle to control its position and it drifts away
This can be reproduced in SITL by doing the following:
AC_PositionControl consumes the EKF3 control limits here
This issue is based on this discussion
To solve this issue we have at least three choices:
The text was updated successfully, but these errors were encountered: