After the correct operation, the aircraft could not control its posture well, causing the crash.

[BreederBai]

@ayushgaud As the title says, after I was trying to run the simulation environment, the position drifted very badly when the airplane did not take off. After taking off, the plane swayed in the air and could not maintain its position. After executing ./build/main_node, the plane flew for a while and crashed. I don't know where to go except for the problem. Have you encountered the same situation?

[ayushgaud]

I have had similar issues before. Just to be sure, could you please share a video of it as well?
You could also take a look into this conversation. I fixed it by setting AHRS_EKF_TYPE=10

[BreederBai]

@ayushgaud I set AHRS_EKF_TYPE = 10, the aircraft can control its horizontal position, but still can not control well in terms of height. And the attitude has been shaking. When running the simulation environment, my computer becomes very slow. Aircraft drift Whether the situation is caused by insufficient computer performance.I am sorry that I don't know how to share the video I tested.