The drone drift overtime

[RoyAmoyal]

Hey, again, thanks for your great work!

When running the code, I noticed that the drone drifted over time. Why the conversion pixel to cm is by (x * est_alt) / focal_length? The focal length is not given in the gazebo.

In addition, I would like to get your help with an example code of mine. I am trying to make a drone that can hold position using an arucomarker on the gazebo. I already set up all the env and an example code, but for some reason, something seems to be off with the vision position estimate.

Can I reach you outside the GitHub? I sent a message to your Gmail. I really would appreciate it!

Thanks, Roy.