@sudotong wrote:
Hi all,
I'm Sam from MIT UAV Team and we're working on a competition where we need to fly inside autonomously. We're using the 3DR Solo which has a pixhawk 2 onboard, and we're using ArduCopter 3.4 on board. We've attached and calibrated the PX4Flow and the LIDER Lite rangefinder and confirmed that they are reading values and oriented properly.
We tested this in flight, and unfortunately we crashed into the wall (video here: https://youtu.be/AFeRD_LUK5U). Here is the log file of this flight
Quick note in that we decided to disable and cover the lens of the laser rangefinder before flying because the laser rangefinder and the optical flow sensor were interfering with each other. When we looked at the raw video from the optical flow sensor, we saw a white splotch that we determined to be caused by some sort of reflection between the two lenses.
During the flight, we took off in Loiter mode. The quadcopter was able to take off and I had a little bit of control (for around 3-5 seconds), and then I started to yaw the copter and it accelerated into the wall as seen in the video.
The questions that we have are:
- do the readings from the optical flow look good enough? When we looked at the logs they seemed very noisy and we're not sure if we have a faulty flow sensor or if our calibrations were ok
- could there be other issues that caused this crazy acceleration into the wall when flying with just optical flow
- is the laser rangefinder necessary for this flight and if so, has anyone else run into interference between the laser rangefinder and the optical flow sensor?Thanks so much!!!!
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