Optitrack using vision - drone hits ceiling

[ghost]

The drone (DJI Flame Wheel F330) goes always high during take-off and hits the ceiling, even though after take-off the throttle stick is all they way down. Tried different autopilot systems, Pixhawk 1 and MindPX, the issue is the same. From the log the velocity setpoint does not seem to follow the command.

The topic from vrpn_client_node is relayed to the mavros/vision_pose/pose, EKF2_AID_MASK is set to vision position fusion and vision yaw fusion. The EKF2_HGT_MODE is set to vision.

Same setup with F450 frame seems working perfect and flying in position mode.

Log file attached.

https://review.px4.io/plot_app?log=6c64a5ae-5aeb-4327-a68b-c6fc60d5b130

Any ideas? The help would be appreciated.

[fabianschilling]

I ran into the same issue a while ago. Try to lower the vertical thrust that is required to hover with the MPC_THR_HOVER parameter. In my case, 30% was a good value but it will depend on the weight of your vehicle.

[ghost]

I ran into the same issue a while ago. Try to lower the vertical thrust that is required to hover with the MPC_THR_HOVER parameter. In my case, 30% was a good value but it will depend on the weight of your vehicle.

Thanks. This solved an issue!