Discussions

Hi

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.

【Video here!!!】

as i know, there are some weighting(IMU/GPS) parameters can be adjust if ekf is used,

related item such as:

EKF_POS_DELAY

EKF_POSNE_NOISE

EKF_POS_GATE

EKF_RNG_GATE (maybe?)

EKF_VEL_GATE

EKF_VEL_DELAY

more.........

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.