2 Replies Latest reply on Jun 9, 2018 6:34 AM by chillax

    External position extimation

    dtaillie

      I am having a very hard time using the latest px4 firmware on the intel aero rtf drone platform to perform external position estimation through mavros.

       

      I have read the other threads on this topic however, I believe my problem is unique as there is no way for me to access the FCU params ATT_EXT_HDG_M or LPE_FUSION through QGC. I can access them and set them using the mavlink shell; however, when I list the mavlink parameters it indicates that these two are unused. Could this have something to do with the aerofc release of px4 firmware?

       

      I have attempted using the plugins mocap_pose_estimation, fake_gps, and vision_pose_estimation. I have successfully verified that messages are being sent to the flight controller using the mocap and fakegps plugins however the /mavros/local_position/pose topic does not mirror my mocap data.

       

      My suspicion that the ATT_EXT_HDG_M and LPE_FUSION adjustments were having no effect, I adjusted the EKF2_AID_MASK bits to accept vision position estimation and vision yaw estimation. Upon reboot, it seems I am unable to access flightcontroller data (i.e. imu, magnetometer, barometer do not provide data and mavros topics are not being published to). I then try sending VISION_POSITION_ESTIMATE mavlink messages however they have no effect.

       

      Maybe I am missing something very obvious here, although I feel that I have tried everything. Any help would be greatly appreciated. If anyone could suggest why the parameters ATT_EXT_HDG_M and LPE_FUSION are listed as unused, it may help me troubleshoot my issue further.

       

      Thank you.

      dtaillie