Thanks for your answer and sorry for my late reply, I didn't
have the AR.Drone with me for a while.
I just tested it without the type="extended" and it gives
similar results as before. I attached two log files, one with
"extended" (13:09:54) and one without (13:11:33). In the logs I
move the AR.Drone up and down several times after which I hold
it steady in altitude while rotating around the pitch and roll
Without "extended" a little less bias develops in the vertical
velocity but it is still there.
I would like to fly indoors without the sonar as I am aiming on
high tilt angle flights so both INS_USE_GPS and USE_SONAR are
not an option. Also, I have a separate vertical velocity loop in
my controller so the vertical velocity estimation has to be
accurate for my controller to work properly.
Date: Fri, 16 May 2014 16:14:45 +0200
Subject: Re: [Paparazzi-devel] AR.Drone vertical velocity
this is of course not supposed to happen. It would
probably help to have the VFF_EXTENDED message as well
(add it to your telemetry file).
However the ins extended was especially meant to be
used with baro and sonar (or gps alt update).
If you don't want to use the sonar
(or INS_USE_GPS_ALT), can you try again with <subsystem
name="ins"/> instead of <subsystem name="ins"
Maybe someone actually using this (@Gautier, @TUDelft)
can shed a bit more light on this.
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