GPS denied flight over Mavlink

1

Hi,

I was wondering as to what would be the easy way to implement GPS denied waypoint navigation (with co-ordinates in local frame with origin being home) on the PixHawk (flu-v2). The default waypoints are GPS based and I wish to avoid that. I have established stable connection over UART with a Raspberry Pi, which is my companion computer. Do I push in the co-ordinates as VisionX, VisionY and VisionZ computed externally? I know the LPE can take input from visual odometry (still working on good odometry from the CV setup). What would be the best approach to achieve this?

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At the moment you can fake by setting an origin with LPE (LPE_LAT, LPE_LON) https://dev.px4.io/en/advanced/parameter_reference.html#local-position-estimator.

If you’re interested in a small project we could talk about properly supporting different MAV_FRAMEs for mission items.
http://mavlink.org/messages/common (search MAV_FRAME).

1 Like
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@dagar Currently I’ve been faking co-ordinates with LPE_LAT and LPE_LON since the past week. Thanks for your info on the MAV_FRAMES. That solves my problem.