HIGHRES IMU sub uORB topic problem

[dssdyx]

Hi! In your PX4 firmware branch, the HIGHRES IMU message is published by vehicle_acceleration and vehicle_angular_velocity without estimator sensor bias and sensor_combined. And you also change vehicle_acceleration and vehicle_angular_velocity, delete the bias correct. If do this, Would it become a single imu without filter or corrected? Just like the imu of d435i?

[Peize-Liu]

Actually, there is hardware-level filter in IMU it self, so what we did was remove the estimator provided by PX4, because for VIO task, we may preffer to filt the data by our self, and if you have the demand for original PX4 firmware, we are willing to create a new branch for it.

[dssdyx]

Actually, there is hardware-level filter in IMU it self, so what we did was remove the estimator provided by PX4, because for VIO task, we may preffer to filt the data by our self, and if you have the demand for original PX4 firmware, we are willing to create a new branch for it.

Thank you for your reply! I ask this question because I have tried pixhawk 4mini with 1.11.0 firmware and pixhawk6c with 1.13.3 firmware. The topic of mavros imu data raw from them, offers imu source for my vins fusion. But they have different performance in vins. 1.11.0 px4 imu is more stable than 1.13.3, without less drift. Then I read the source core of 1.11.0 and 1.13.3. In 1.13.3, the vehicle_imu uORB is used instead sensor_combined uORB in 1.11.0.
I want to know what different between these method of getting HIGHRES IMU and why seems result in different VIO performance. Or, your method is better than both above?

Also, mc_rate_control use vehicle_angular_velocity message. If not delete bias, will it cause something wrong?