Initial situation:
DJI Matrice 100 statically positioned in a room indoor switched on.
Problem:
Once the DJI-node is launched the quaternion in the message /DJI-SDK/imu returns: x = nan; and consecutively wrong values for the other three variables in the quaternion.
This behavior does not happen always, sometimes the quaternion is correctly computed and transmitted. The correct behavior occurs without switching on-off the drone or the onboard computer, but just re-launching the node several times.
Conclusion:
The unpredictable behavior of the system does not allow us to conclude that the data captured from the Inertia Measurement Unit of the drone, in the current configuration, are always valid.
Is there someone that could help us? |