Hi, I have a Matrice m100 with guidance attached in default configuration i.e. below the matrice base is battery and then the guidance sensor.
can someone help me with following queries/issues
1) Does guidance really use all 5 sensors to computer odometry? Does it really compute stereo/mono odometry from all sensors and fuse them to obtain a best estimate. I have noticed it only using the bottom sensor. Other 4 horizontal sensors seem to be used for avoidance only in which case also it seem to be using only the sonars and not stereo depth(I have started doubting if stereo pipline is even being used as of now)
2) Can Matrice switch between P-GPS and P-OPTI modes when required (going under a bridge)? So far in my experiments it swtiches to P-Atti when GPS deteriorates, I expected it to use OPTI in such a case because I flew matrice over textured surface.
It only switches to OPTI when flying close to ground with bad GPS and then directly goes to P-GPS when GPS improves but vice-a-versa never happens i.e. it never switches to P-OPTI when GPS deteriorates. It only switches to P-Atti from P-GPS.
3) Which sensor governs the height when both GPS and sonar is available? With guidance attached I expected it to maintain a better hovering height above ground but it seems to compete between GPS/Sonar/baro and ends up oscillating in height.
In all I believe everyone is excited to see a good system that Guidance is on Spec sheets and the website, but some things just dont work out. Maybe there is a beta firmware
that enables the stereo odomtery etc. I beleive so because we dont get access to all the disparity images to do our own odometry hence, there really must be something onboard in development.
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