SITL Gazebo with optical flow not working

[julianoes]

Describe the bug

I can't switch into position control. Only altitude control works, even if in-air.

Sometimes the flow thing reports matches, but even then I can't switch into position control:

Number of good matches: 4, desired: 3
Number of good matches: 3, desired: 3
Number of good matches: 2, desired: 1

However, most of the time, this is not reporting anyway.

The LOCAL_POSITION_NED velocity estimates seem correct but position is just 0.

To Reproduce
Steps to reproduce the behavior:

make px4_sitl gazebo_iris_opt_flow

Then try to switch to position control, or switch to altitude control to takeoff and then try to switch to position control. Both don't work for me.

Expected behavior
I assume position control should work, especially when there is also GPS being sent which is right now the case.

[Jaeyoung-Lim]

@julianoes Is this still an issue? I can fly with the iris_opt_flow model

[julianoes]

@Jaeyoung-Lim I just tried again doing a takeoff in QGC with iris_opt_flow and it flipped. This is with Gazebo 11.

https://logs.px4.io/plot_app?log=aa17113c-b016-4118-a14c-b5c63bca6281

Edit: even taking off in ALTCTL with a joystick just flips.

[julianoes]

Turns out this works now, even if I disable GPS publication.