EKF2: Position lost after EV stops (GPS + EV Fusion) - 1.9 stable

[BRNKR]

Hey @mhkabir @dagar @priseborough ,

actually i want to fuse the pose information of my zed camera with gps into the px4. After stopping the vision the base_link is not moving anymore and jumps back to map at position (0,0,baro_hgt). It doesnt give any local_position from GPS data. I thought that it is a real fusion and will rely on gps when vision is gone. see this post #10062.
At start without vision the local_position is working on GPS.

my setup is following:

• zed camera publishs pose message referenced to its origin frame zed_origin.
• mavros uses map->vision_estimate lookup instead of topic /mavros/vision_pose/pose.
• i publish static map->zed_origin transform to get zed pose into ENU.
• i publish zed_origin->vision_estimate from zed pose msg

map --> zed_origin --> vision_estimate (my solution)
map --> base_link (published by mavros)

[mhkabir]

Please post a log.

[BRNKR]

ok. on my next fieldtest.

[mhkabir]

@TobiMiller please make it a log from boot (set SDLOG_MODE to "from boot until shutdown") so that we can replay it. Thanks!

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.