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IMU sensor topic publish start time #56

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juanmed opened this issue Feb 18, 2019 · 2 comments
Closed

IMU sensor topic publish start time #56

juanmed opened this issue Feb 18, 2019 · 2 comments

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@juanmed
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juanmed commented Feb 18, 2019

Hello,

I see the topic /uav/sensors/imu is being published only after messages to /uav/inpu/rateThrust start arriving. Is this the normal behaviour? Is there any reason for this?
@eatal
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eatal commented Feb 18, 2019 •
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Hi @juanmed,

The reason is that currently the dynamics simulation only starts once a thrust input of at least 1.1 times the vehicle weight (1.1*9.81) is received. This is to prevent the drone from immediately drifting away from its initial position (mainly due to IMU noise), once FlightGoggles is started.

The IMU messages are only published if the dynamics simulation is running, hence those only start arriving after the initial thrust command. Prior to this moment, i.e. prior to the dynamics simulation running, the IMU messages would consist of only noise, since linear acceleration and angular rates are zero.

-Ezra

Winter-Guerra added a commit that referenced this issue Feb 19, 2019
@Winter-Guerra
Update FlightGoggles to v2.0.3. Adds support for downward range finde…
1ff625d 
…r (issue #52).

* Makes camera resolution configurable via ROS param files. Alleviates issues from #51 and #32.
* Lowers takeoff thrust threshold to 9.9N (see issues #56, #45).
* Adds Windows64 standalone build to releases page (requested in issues #53, #46).
* Adds nominal gate location file to ROS param server.
* Adds plotter for laser range finder.
* Adds example stereo reconstruction pipeline launch file.

Many thanks to @eatal and @varunmurali1 for their help with this patch!
@Winter-Guerra
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Hi @juanmed,

FYI, we've lowered the takeoff threshold to 9.9N. After inputting a thrust command >9.9N, the drone should takeoff and start sending IMU messages.

Best,
-Winter

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@Winter-Guerra @eatal @juanmed