SVO scale position, stereo

[logindiamant]

Hi, colleagues!

Can you have a problem with scale in odometry?
I try to use stereo cam RealSense with high accuracy IMU in SVO 2.0 odometry...
When I cyclically shift a drone between two stationary points A(x1,y1,z1) and B(x2,y1,z1), drone in any iterations flies in new points with low, and low, and low scale

May be you know some parameters in config files to solve this problem?

Some of parameter in my yaml file

pipeline_is_stereo: True
automatic_reinitialization: True # When lost, stereo can recover immediately
grid_size: 35
use_async_reprojectors: True
use_imu: True
poseoptim_prior_lambda: 2.0
img_align_prior_lambda_rot: 5.0
img_align_prior_lambda_trans: 0.0

use_threaded_depthfilter: True
quality_min_fts: 40
quality_max_drop_fts: 80

max_depth_inv: 0.1
min_depth_inv: 10.0
mean_depth_inv: 0.5

map_scale: 1.0
kfselect_criterion: DOWNLOOKING
kfselect_numkfs_upper_thresh: 180
kfselect_numkfs_lower_thresh: 90
kfselect_min_dist_metric: 0.001
kfselect_min_angle: 6
kfselect_min_disparity: 40
kfselect_min_num_frames_between_kfs: 0

img_align_est_illumination_gain: true
img_align_est_illumination_offset: true
depth_filter_affine_est_offset: true
depth_filter_affine_est_gain: true
reprojector_affine_est_offset: true
reprojector_affine_est_gain: true