Drone Oscillation During Takeoff with LiDAR Using px4ctrl

[bhaskar-glitch]

I am currently using px4ctrl (https://github.com/ZJU-FAST-Lab/Fast-Drone-250/tree/master/src/realflight_modules/px4ctrl) with the Fast LIO algorithm (https://github.com/hku-mars/FAST_LIO), running on Pixhawk Cube+ with PX4 firmware version 1.15.0 and a Livox Mid360 LiDAR for odometry.

When executing an automatic takeoff via the takeoff.sh script, the drone lifts off but starts oscillating along both the X and Z axes. Previously, I used a camera for odometry with px4ctrl, and it worked flawlessly. However, after switching to LiDAR, this oscillation issue has appeared.

I am attaching the flight log for reference. Kindly review and provide assistance. Thank you!

Flight Log:- https://drive.google.com/file/d/18RDbIVaIRgQszmVV3RXJ6CHgbowOQn8K/view?usp=drive_link

@bigsuperZZZX

[PanNeng-ZJU]

From the log, I see that your drone's accleration estimation is going throught big oscillation of +- 8m/s^2, you should firstly fix the oscillation or the odometry is too bad for the drone to conduct feedback control. The problem might lies in your drone's frame that lacks stiffness.