修改fast-drone-250.yaml的body_T_cam0和body_T_cam1的data矩阵的第四列为你的无人机上的相机相对于飞控的实际外参,单位为米,顺序为x/y/z,第四项是1,不用改 VINS外参精确自标定 sh shfiles/rspx4.sh rostopic echo /vins_fusion/imu_propagate 拿起飞机沿着场地尽量缓慢地行走,场地内光照变化不要太大,...
按照教程,完成VINS标定后进行自动起飞悬停实验。下发命令后,无人机在自动起飞过程中,一开始起飞到了一个很低的位置,观察来看好像是无人机因为过中飞不起来,随后无人机急剧加速失控,并上升到了很高的位置,但echo /vins_fusion/imu_propogate vins并没有漂,请问这是什
提交Issue,填表就好 内容必填选填?你说了算! 精准反馈,高效沟通 我知道了查看详情 Watch 1Star0Fork0 TJ_LAB/docker-ZJU-FAST-Lab - Fast-Drone-250 标签 Tags Releases 功能基于仓库中的历史标记 建议使用类似 V1.0 的版本标记作为 Releases 点。
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hardware and software design of the 250mm autonomous drone - Merge pull request #1 from ZJU-FAST-Lab/master · Glorypzm/Fast-Drone-250@45d01ec
hardware and software design of the 250mm autonomous drone - Fast-Drone-250-ZJU/3rd_party.zip at master · Beau3n/Fast-Drone-250-ZJU
[ERROR] [1709288468.683143015]: [px4ctrl] Reject AUTO_TAKEOFF. If you have your RC connected, keep its switches at "auto hover" and "command control" states, and all sticks at the center, then takeoff again. I'm using herelink not sort because one time its get take ...
New issue Open 运行后发现vins输出的out_path不飘,但是/vins_fusion/imu_propagate中的位置漂移明显 我不知道是什么原因导致的? 我发现项目中并没有使用loop_fusion,可以请问一下具体的原因吗? 硬件:D435i+NX(fusin-gpu)
They are different. You have to change the topic names. If changing the tf is required depends on the frame of your odometry and depth topics. Refer to the launch files inFast-drone-250to see how real-world flight is configured.
So far I am not able to calibrate these matrices and if I take a look at vins_fusion/imu_propagate I can see a big divergence when I carry the drone around and come back to the start position Actually what I have is significant difference in the translation part (tx, ty, and tz) ...