In order to avoid GPS drift, I change GNSS to rtk, it can provide position correctly in ±1cm.
although the ardupilot can receiver accurate position information,
drone still have flight drift in loiter mode ,the range around 45 cm.
as i know, there are some weighting(IMU/GPS) parameters can be adjust if ekf is used,
related item such as:
Does someone have experience tuning these,
any idea or advice please discus with me, thanks
of course, i'm going to have more experiments to figure out these ekf parameters.