We use the Snapdragon Flight together with ROS (https://github.com/ATLFlight/snap_vio) for obtaining a pose. However, when using it on our drone, it often happens that the values of the mvVISLAM pose are largely increasing or decreasing (for example after 2 or 3 seconds we obtain a postion (x=200, y=400, z=500)).
Usually, this goes hand in hand with "Intrinsic camera cal questionable" errors, but often there is not even any error code returned. We already tried default fisheye camera calibration and our own calibration. We also noticed that the IMU values during flight are very noisy, but havent found a way to set a parameter for that. What could we do to obtain a reliable pose?