Positional inertial tracking has diverged

Software ROS2
1

Hey,
I am using zed mini with jetson orin jp6.2. on drone.
SDK 5.0.2.
the positional tracking works great when i move the camera manually but when the camera on the drone(movoes slowly with alot of features) I get error messege: Positional inertial tracking has diverged - Re-initializing to visual-only odometry.
It happens 3 times, only when it on the drone. any ideas?

2

Hi @Ori
What camera model are you using?
Please share your software configuration.

3

zed mini
common_stereo.yaml (17.9 KB)
zedm.yaml (690 Bytes)

4

pos_tracking_mode: 'GEN_3'
Have you checked if the problem persists with GEN_2 or GEN_1?