Px4-autopilot: ekf2 + vision error

Created on 11 Jul 2019 · 4Comments · Source: PX4/PX4-Autopilot

Describe the bug

When viewing the mavros/local_position/pose value, Even if you stay still, you lose your position.

Is this a slam problem or a connection speed problem with the pixhawk and tx2 board?

At first, it shows the correct position value, but after a while, x y is fixed at zero

There are many of these questions, but all of them have not been solved.

I installed the firmware version of px4fmu_v2 1.8.0

Pixhawk2 + jetson tx2

And ekf2_aid_mask 8 (only vision fusion)
sys_companion (921600)
ekf2_eva_Noise 0.20
ekf2_evp_Noise 0.20
ekf2_ev_delay 50.0ms
ekf2_hgt_mode baro
I watched the paramedics

To Reproduce
Steps to reproduce the behavior:

Slam running
roslaunch mavros px4.launch

Expected behavior
Why is the x y value initialized to zero?

Log Files and Screenshots
https://logs.px4.io/plot_app?log=18d1669c-2906-405f-ad07-a0a8757d27ae
Screenshot from 2019-07-11 17-06-11

Add screenshots to help explain your problem.

Drone (please complete the following information):

SUMMARY

CLEAR PARAMETERS

/mavros/

PARAMETERS

/mavros/cmd/use_comp_id_system_control: False
/mavros/conn/heartbeat_rate: 5.0
/mavros/conn/system_time_rate: 1.0
/mavros/conn/timeout: 5.0
/mavros/conn/timesync_rate: 10.0
/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
/mavros/distance_sensor/hrlv_ez4_pub/id: 0
/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
/mavros/distance_sensor/hrlv_ez4_pub/send_tf: False
/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
/mavros/distance_sensor/laser_1_sub/id: 3
/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
/mavros/distance_sensor/laser_1_sub/subscriber: False
/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
/mavros/distance_sensor/lidarlite_pub/id: 1
/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
/mavros/distance_sensor/lidarlite_pub/send_tf: False
/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
/mavros/distance_sensor/sonar_1_sub/id: 2
/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
/mavros/distance_sensor/sonar_1_sub/subscriber: False
/mavros/fake_gps/eph: 2.0
/mavros/fake_gps/epv: 2.0
/mavros/fake_gps/fix_type: 3
/mavros/fake_gps/geo_origin/alt: 408.0
/mavros/fake_gps/geo_origin/lat: 47.3667
/mavros/fake_gps/geo_origin/lon: 8.55
/mavros/fake_gps/gps_rate: 5.0
/mavros/fake_gps/mocap_transform: False
/mavros/fake_gps/satellites_visible: 5
/mavros/fake_gps/tf/child_frame_id: fix
/mavros/fake_gps/tf/frame_id: map
/mavros/fake_gps/tf/listen: False
/mavros/fake_gps/tf/rate_limit: 10.0
/mavros/fake_gps/tf/send: False
/mavros/fake_gps/use_mocap: False
/mavros/fake_gps/use_vision: ture
/mavros/fcu_protocol: v2.0
/mavros/fcu_url: /dev/ttyTHS1:921600
/mavros/gcs_url: udp://:14551@192....
/mavros/global_position/child_frame_id: base_link
/mavros/global_position/frame_id: map
/mavros/global_position/gps_uere: 1.0
/mavros/global_position/rot_covariance: 99999.0
/mavros/global_position/tf/child_frame_id: base_link
/mavros/global_position/tf/frame_id: map
/mavros/global_position/tf/global_frame_id: earth
/mavros/global_position/tf/send: False
/mavros/global_position/use_relative_alt: True
/mavros/image/frame_id: px4flow
/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
/mavros/imu/frame_id: base_link
/mavros/imu/linear_acceleration_stdev: 0.0003
/mavros/imu/magnetic_stdev: 0.0
/mavros/imu/orientation_stdev: 1.0
/mavros/landing_target/camera/fov_x: 2.0071286398
/mavros/landing_target/camera/fov_y: 2.0071286398
/mavros/landing_target/image/height: 480
/mavros/landing_target/image/width: 640
/mavros/landing_target/land_target_type: VISION_FIDUCIAL
/mavros/landing_target/listen_lt: False
/mavros/landing_target/mav_frame: LOCAL_NED
/mavros/landing_target/target_size/x: 0.3
/mavros/landing_target/target_size/y: 0.3
/mavros/landing_target/tf/child_frame_id: camera_center
/mavros/landing_target/tf/frame_id: landing_target
/mavros/landing_target/tf/listen: False
/mavros/landing_target/tf/rate_limit: 10.0
/mavros/landing_target/tf/send: False
/mavros/local_position/frame_id: map
/mavros/local_position/tf/child_frame_id: base_link
/mavros/local_position/tf/frame_id: map
/mavros/local_position/tf/send: False
/mavros/local_position/tf/send_fcu: False
/mavros/mission/pull_after_gcs: True
/mavros/mocap/use_pose: False
/mavros/mocap/use_tf: False
/mavros/odometry/in/child_frame_id: base_link
/mavros/odometry/in/frame_id: odom
/mavros/odometry/in/frame_tf/body_frame_orientation: flu
/mavros/odometry/in/frame_tf/local_frame: local_origin_ned
/mavros/odometry/out/frame_tf/body_frame_orientation: frd
/mavros/odometry/out/frame_tf/local_frame: vision_ned
/mavros/plugin_blacklist: ['safety_area', '...
/mavros/plugin_whitelist: []
/mavros/px4flow/frame_id: px4flow
/mavros/px4flow/ranger_fov: 0.118682
/mavros/px4flow/ranger_max_range: 5.0
/mavros/px4flow/ranger_min_range: 0.3
/mavros/safety_area/p1/x: 1.0
/mavros/safety_area/p1/y: 1.0
/mavros/safety_area/p1/z: 1.0
/mavros/safety_area/p2/x: -1.0
/mavros/safety_area/p2/y: -1.0
/mavros/safety_area/p2/z: -1.0
/mavros/setpoint_accel/send_force: False
/mavros/setpoint_attitude/reverse_thrust: False
/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
/mavros/setpoint_attitude/tf/frame_id: map
/mavros/setpoint_attitude/tf/listen: False
/mavros/setpoint_attitude/tf/rate_limit: 50.0
/mavros/setpoint_attitude/use_quaternion: False
/mavros/setpoint_position/mav_frame: LOCAL_NED
/mavros/setpoint_position/tf/child_frame_id: target_position
/mavros/setpoint_position/tf/frame_id: map
/mavros/setpoint_position/tf/listen: ture
/mavros/setpoint_position/tf/rate_limit: 50.0
/mavros/setpoint_raw/thrust_scaling: 1.0
/mavros/setpoint_velocity/mav_frame: LOCAL_NED
/mavros/startup_px4_usb_quirk: False
/mavros/sys/disable_diag: False
/mavros/sys/min_voltage: 10.0
/mavros/target_component_id: 1
/mavros/target_system_id: 1
/mavros/tdr_radio/low_rssi: 40
/mavros/time/time_ref_source: fcu
/mavros/time/timesync_avg_alpha: 0.6
/mavros/time/timesync_mode: MAVLINK
/mavros/vibration/frame_id: base_link
/mavros/vision_pose/tf/child_frame_id: vision_estimate
/mavros/vision_pose/tf/frame_id: map
/mavros/vision_pose/tf/listen: ture
/mavros/vision_pose/tf/rate_limit: 5.0
/mavros/vision_speed/listen_twist: False
/mavros/vision_speed/twist_cov: False
/mavros/wheel_odometry/child_frame_id: base_link
/mavros/wheel_odometry/count: 2
/mavros/wheel_odometry/frame_id: map
/mavros/wheel_odometry/send_raw: True
/mavros/wheel_odometry/send_twist: False
/mavros/wheel_odometry/tf/child_frame_id: base_link
/mavros/wheel_odometry/tf/frame_id: map
/mavros/wheel_odometry/tf/send: True
/mavros/wheel_odometry/use_rpm: False
/mavros/wheel_odometry/vel_error: 0.1
/mavros/wheel_odometry/wheel0/radius: 0.05
/mavros/wheel_odometry/wheel0/x: 0.0
/mavros/wheel_odometry/wheel0/y: -0.15
/mavros/wheel_odometry/wheel1/radius: 0.05
/mavros/wheel_odometry/wheel1/x: 0.0
/mavros/wheel_odometry/wheel1/y: 0.15
/rosdistro: kinetic
/rosversion: 1.12.14

NODES
/
mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [8433]
Frame local_origin_ned exists with parent local_origin.
Frame fcu_frd exists with parent fcu.
Frame fcu exists with parent fcu_frd.
Frame mynteye_left_frame exists with parent mynteye_link.
Frame mynteye_right_frame exists with parent mynteye_left_frame.
Frame mynteye_left_rect_frame exists with parent mynteye_left_frame.
Frame mynteye_right_rect_frame exists with parent mynteye_right_frame.
Frame mynteye_disparity_frame exists with parent mynteye_left_frame.
Frame mynteye_disparity_norm_frame exists with parent mynteye_disparity_frame.
Frame mynteye_depth_frame exists with parent mynteye_left_frame.
Frame mynteye_points_frame exists with parent mynteye_left_frame.
Frame camera_imu_frame exists with parent mynteye_left_frame.

Additional context
Add any other context about the problem here.

question state estimation

Source

lgh5054

Most helpful comment

I just figure that out.The solve is using vision position directly,don't fuse it with ekf2. My drone fly much stable now. I don't think they fuse vision by a proper way. You just need to use vision position in your out control loop

JenaEmz on 20 Aug 2019

👍2

All 4 comments

https://logs.px4.io/plot_app?log=3875fcb0-1798-4973-8213-e9a74f420a3e#Nav-Sampling-Regularity-of-Sensor-Data

booting log

lgh5054 on 11 Jul 2019

@mhkabir :)

julianoes on 15 Jul 2019

JenaEmz on 20 Aug 2019

👍2

@JenaEmz Hello Jena, I am having a very similar issue. I saw that you were able to resolve it, but I dont understand your resolution. Can you expand upon that a bit?