Comments (2)
That is a very interesting point. The IMU calibration (as stated in docs) is experimental. I added that to the driver, because the sensor fusion module that I used for a project was working better when the biases are reduced (even using this naive method). I need to do some experiments (after applying #18) to see if it actually works in long term. I would also really appreciate your (and other people's) opinions.
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I actually came across this because I noticed that the reduced bias actually tends to 'stick' through the experiment, which means it doesn't help much! I created a bag file that recorded data from /navdata and /cmd_vel topic, and both graphs look similar albeit with a time lag in the /navdata topic. Since there is an inherent filter in the embedded system, and optical flow is the more significant contributor to the velocity estimate, it doesn't make sense to filter it in my opinion!
Was your project on the drone too?
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Related Issues (20)
- Take back to the Initial State of Drones
- catkin_make ardrone_autonomy fail HOT 1
- cannot run ardrone_driver on indigo or kinetic
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- Invoking "make -j4 -l4" failed on ROS Kinetic HOT 4
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