Holybro X500 + Pixhawk 6c for GPS-denied indoor autonomous navigation (Marvelmind vs. RealSense)

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Hi everyone, I’m looking into building an autonomous drone for indoor autonomous navigation (GPS-denied). Options like the ModalAI Starling 2 Max ($4.5k) are too expensive for this, so I’m looking at a custom build.

My proposed setup:

  • Holybro X500

  • Pixhawk 6c running PX4

  • For Navigation: Either the Marvelmind Super-MP-3D Starter Set OR an Intel RealSense D435i (paired with a companion computer like a Pi 4 or Jetson).

Has anyone successfully deployed a similar stack for indoor autonomous waypoints?

  1. Which localization method (Marvelmind beacons vs. RealSense VIO) would you recommend for a warehouse environment?

  2. Are the integration headaches with ROS/PX4 worth the cost savings over buying an off-the-shelf solution?

Any advice on hidden costs or better hardware combinations for this budget would be hugely appreciated!

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Hi there, I have carefully checked out your posting and I am very interested in your project.

I also would like to build similar project to yours.

Looking forward to discussing more details together.

I am considering Nvidia Jetson Or Raspberry Pi 4/5 and Flight Controller.

And also I think that we can use lidar + depth camera + IMU for Navigation.