Example scripts on SITL: model iris_opt_flow does not respond well to example scripts 'offboard' and 'take off and land'

MAVSDK
1

Hello everyone!
I have been running the iris_opt_flow model in SITL which differs from the regular iris model on the implementation of the px4flow.

I have tried the MAVSDK take off and land and offboard examples and similar results arise.

The takeoff and land example gets stuck in this loop:

Screenshot from 2022-02-07 14-11-42
Screenshot from 2022-02-07 14-11-421733×1057 201 KB

The offboard example gets stuck also:

Screenshot from 2022-02-07 14-13-36
Screenshot from 2022-02-07 14-13-361755×1078 207 KB

It appears that some preflight checks are not being passed by the model. Has anyone experienced such issue? Is there anything I can do to avoid it?

Thanks!

2

Further insight into this problem is that it gets stuck in the ‘getting ready to arm loop’ because the check ‘is_home_position_ok’ returns a 0. This is what printing the health of the vehicle returns:
image

It appears that, since visual navigation is used instead of GPS, home position cannot be located.
Is there any way to fix this?

3

I am having this problem as well.