@Thomasss wrote:
Hi everyone,
I've been working to try to get an analog sonar work in AUTO mode but without great succes so far.
I thought that setting EK2_RNG_USE_HGT to 50% of the sonar maximum height would allow the drone to listen to the sonar data close to the ground, but maybe I'm wrong.Anyway, I haven't been able to try this because if I set EK2_RNG_USE_HGT = 50 (or any other value) and connect the sonar, I get Bad AHRS, and after a few seconds everything gets crazy. When I look at the screen in mission planner Flight Data it looks like the IMU sees the drone turning upside down even when it's actually level on my table.
Mission planner says "Error pos horiz variance".I've no idea where this comes from, but when I put EK2_RNG_USE_HGT back to -1, everything works fine. The sonar works perfectly in Loiter mode but doesn't seem to be used in AUTO mode.
Any clue to where this might come from ?
Thanks for your help,
Thomasfull_parameter_list.pdf (82.7 KB)
Posts: 10
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