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Published 20 hours ago • verified publisher icon hku-mars

Drone Oscillation During Takeoff with LiDAR Using px4ctrl

Open bhaskar-glitch opened this issue 1 year ago • 0 comments

I am currently using px4ctrl (https://github.com/ZJU-FAST-Lab/Fast-Drone-250/tree/master/src/realflight_modules/px4ctrl) with the Fast LIO algorithm, running on Pixhawk Cube+ with PX4 firmware version 1.15.0 and a Livox Mid360 LiDAR for odometry.

When executing an automatic takeoff via the takeoff.sh script, the drone lifts off but starts oscillating along both the X and Z axes. Previously, I used a camera for odometry with px4ctrl, and it worked flawlessly. However, after switching to LiDAR, this oscillation issue has appeared.

I am attaching the flight log for reference. Kindly review and provide assistance. Thank you!

Flight Log:- https://drive.google.com/file/d/18RDbIVaIRgQszmVV3RXJ6CHgbowOQn8K/view?usp=drive_link

bhaskar-glitch avatar Oct 19 '24 15:10 bhaskar-glitch