What would happen if the T265 stops sending position estimation data?

[cnpcshangbo]

Hello,
I learned that if the T265 stops sending position estimation data, the ArduPilot EKF would not work correctly until reboot.
So what would happen if the T265 stops sending data during the flight?

We have tested the T265 + ArduCopter solution with a small TestQuad and it worked well. However, when we migrated this solution to a large drone, the T265 stopped working since it was sensitive to the impact the large drone produced. After that the large drone started to fly up. I wonder if that flying up was due to the EKF stopped working or the ArduPilot entered failsafe mode.
I am glad if you can share some thoughts about some of my questions:

• Is there some method to configure the external position estimation failsafe to landing rather than flying upward?
  Here's the flight log:
  11 12-31-1979 6-00-00 PM.zip

• I know that I am using an old version of ArduPilot. Do you know if the newer version of ArduPilot has more consideration of the external position estimation failsafe?

Let me know if you need more materials.

Thanks,
Bo

[thien94]

Hi @cnpcshangbo,

The last question is the most important when using the T265. Support for the T265 is continually being developed and the latest firmware might give you the solution for all of your issues. See point 6 in the latest release log https://discuss.ardupilot.org/t/copter-4-1-0-released-as-the-official-default-version/76889

It should be noted that the actual behavior also depends on your specific configuration (with and without compass or GPS or optical flow or altimeter etc.). But retry with the latest version of ArduPilot should be your first step.

Regards,