Hello,
I have a small build flying indoors with baro and optical flow / lidar. I have been trying to dial in barometer for ALTH when lidar will be unreliable due to cluttered floors. Some of the parameters I have been changing are based on the recommendations here: Extended Kalman Filter Navigation Overview and Tuning — Dev documentation
I am noticing though that as the baro temp reading settles to a consistent temp, the vehicle is able to hold altitude much more reliably. Until then though, the vehicle ascends and descends while the desired altitude remains constant.
That screenshot is from the most recent flight, where I tried to hold altitude in a narrow hallway, approximately 1m wide. I realize that is a tough situation for any build, however, that is a common environment I am expected to be flying. Flying in stabilize mode is fine, but for certain situations, having altitude hold work consistently is the goal.
Nevertheless, the result is similar in open space, where the temperature needs to settle before having reliable altitude. When I say reliable, I will be happy with +/- 0.3 meter variance which is about what I achieved in that narrow hallway. Switching to Loiter was coincidentally aligned with temperature settling and more so I didn’t have to continually correct XY position in a confined space.
I watched Andy Piper’s Pavo20 videos on this but his settings were not helpful for me. Any thoughts on this topic or how to improve are much appreciated, specifically if there is a way to handle temperature values until they settle.
Thank you
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