Emlid

Community Forum

Bad mavros/local_position/pose and mavros/imu/data


(Rcommissaris11) #1

Hello

I want to use /mavros/local_position/pose.
But even if I walk a straight line of 100 meters, my pose wanders around the 0 position.
The gps is relatively accurate, so I think the problem lies with the imu data.
I have callibrated my accelerometer succesfully with apm2.
But when the navio2 is standing still, I have still some random accelerations.
For example: the x acceleration jumps between 0,5 and 0,3.
Is it possible that this is my problem?

If yes: how can I solve this?
If no: do you have any idea what the cause is of the bad pose estimate of mavros?

Kind regards Robbe


(Kirill Kobylyanskiy) #5

Hi, @rcommissaris11,
What is the output of /mavros/global_position/local?


(Rcommissaris11) #6

As you can see in the screenshots below, the position changes a lot.
During this test the robot didn’t move and had access to 16 sats.


(Lucas Penna) #7

I have the same issue on my drone.
I don’t move it, but the there are many positions being published on “mavros/local_position/pose”. I noticed a variation of 20 meters while my drone staying stopped.
Is this a possible bad MAVROS configuration? Do you know about it?


(system) closed #8

This topic was automatically closed 100 days after the last reply. New replies are no longer allowed.