UAV with MRS performs different behavior with the same MRS software and hardware in different indoor test sites

[MJavadZallaghi]

Dear MRS team and dear @klaxalk

I have a UAV with MRS and mrs_point_lio running on it for offboard control and autonomous flights. I have a Livox MID360 LiDAR on it. I have two different test sites, both are indoor. I will refer to them as Test sites A and B.

I noticed something really strange. With the same software params, the UAV performs stable flight in test site A, while it bounces aggressively in the Z axis in test site B. This video shows both tests together.

The only difference is the test site; the rest of the things, both hardware and software, are exactly the same! As both sites are indoors, I'm unsure of the actual reason. SLAM of both sites with point_lio seems to be good.

Do you have any idea about this strange issue? I can upload the flight logs and bag files if needed for more hints. Thanks for sharing your thoughts on this.

[klaxalk]

Hey, could you pls post what custom config do you have? I am interested in the setup of the point_lio estimator.

[MJavadZallaghi]

Attached the config file:
custom_config_x650.yaml