-
Notifications
You must be signed in to change notification settings - Fork 1.4k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Wrong Altitude Calculation Aocoda-RC F405 40A AIO DPS310 / SPL06 #10043
Comments
Is the baro covered with open cell foam? |
When disarmed the Altitude should remain around 0 regardless of height changes of the drone itself. However, when Armed altitude should follow and hold the height changes of the drone ... which it does when I tested just now. |
the test cases again: ACC calibration completed Test Case 1 (without GPS in Config, Port disabeld)
Test Case 2 (without GPS Config, Port disabled)
Test Case 3 (with GPS)
Test Case 4 (with GPS)
It seems that only the GPS value is used for the altitude calculation. If the GPS is switched off, the altitude value remains at 0 I think that the negative pressure offset after arming is caused by the propellers next to the ground - if the drone moves away from the ground, this is correct again - the same effect again after placement at a altitude of 2m on a board. |
I assume you're using version 7.1.1. If so there's a bug that disables the Baro if |
The first test was disarmed with GPS. with armed same result: correction: Now the altitude is also calculated without GPS, but again with the same effect Disarmed, without GPS: ...and armed without GPS: It seems that the current altitude value is the differential function (with LP) of the pressure function? |
Nav altitude is calculated from a weighted average of Baro and GPS altitudes + an acceleration factor. More weighting is applied to the Baro than the GPS which is why when armed the altitude is much less -ve with the Baro working than just the GPS alone (GPS altitude is just inaccurate compared to the Baro especially when it's only just got a lock with few satellites which is why you were getting -22m). Nav altitude will not just follow the Baro altitude, it's not as simple as that. It looks to be working as expected, altitude zeroed when disarmed and reacting to height changes when armed. |
I will test it again in the open field today... fyi: during the tests at a altitude of 2m, the drone was armed the whole time. The drop in altitude did occur in armed status. Update: |
Current Behavior
Steps to Reproduce
Expected behavior
constant altitude level
Suggested solution(s)
Additional context
INAV/AOCODARCF405AIO 7.1.1 May 6 2024 / 10:54:34 (dd91a87)
GCC-10.3.1 20210824 (release)
The text was updated successfully, but these errors were encountered: