The newest TDOA2 will often have a sudden crash

Discussions about autonomous flight in general, regardless of positioning method
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Person
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Joined: Wed Jan 10, 2018 5:40 am

The newest TDOA2 will often have a sudden crash

Post by Person » Wed Jan 10, 2018 6:20 am

Hi ,I find the latest version TDOA2 will often appear sudden impact crash, I'm not sure whether it is my Quadcopters' problem or others, but I have test 10 Quadcopters and found crash more easily than TWR, I don't know what cause it ? Maybe the firmware have influence on it ? can you give me some help ?

arnaud
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Joined: Tue Feb 06, 2007 12:36 pm

Re: The newest TDOA2 will often have a sudden crash

Post by arnaud » Wed Jan 10, 2018 8:15 am

Hi,
When the kalman filter is fed very bad data we have observed crash. Until recently TDoA2 had no outlier rejection, which causes these crash, we have mostly observed it when starting the CF2s outside the system convex hull.

We recently added a minimal outlier detection: we reject TDoA measurements that are higher than the distance between the two involved anchors. This is a pretty fundamental check and it seems to help a lot the EKF crash.

Can you try the latest master branch of the firmware to see if it improves the situation for you too?

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