Hi, I’m building an autonomous indoor drone (Holybro QAV250 kit,
Pixhawk 6C Mini, PX4 1.16.0) that flies using a custom UWB position
system instead of GPS, with no RC transmitter at all.
Two questions:
-
The GPS/compass/safety-switch combo module included in the kit
seems to have its physical safety switch button permanently blinking,
even after long presses. I suspect the 6-pin connector on this module
doesn’t route the safety switch signal line at all. Can you confirm
whether this module’s safety switch is expected to work, or if it’s
a known limitation of this connector type? I’ve worked around it in
software (CBRK_IO_SAFETY parameter) but want to confirm this isn’t a
hardware fault. -
With no GPS and no RC, PX4’s arming check keeps reporting
MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL as unhealthy, even with a
working vision/UWB position source (confirmed via LOCAL_POSITION_NED)
and covariance set on the VISION_POSITION_ESTIMATE messages. Is this
a PX4 firmware-level EKF accuracy threshold question, or is there
anything on the Pixhawk 6C Mini hardware side (e.g. a specific
sensor/parameter set for this board) that could explain it? I’ve
already asked on the PX4 forum for the firmware side but wanted to
check in case this is something board-specific.
Happy to share console logs if useful. Thanks!