I’m working on an indoor drone that currently uses SLAM (VIO or LIDAR) for localization, but I’m exploring the feasibility of flying without SLAM , relying only on the Pixhawk 6X Pro’s IMU
I am currently publishing on /mavros/setpoint_position/local to reach a goal pose, and I am receiving feedback from /mavros/local_position/pose. How can I fly in position mode, which relies solely on the IMU? Do I need to make changes on the firmware level or modify the parameters?
I believe there is no good way to go that, and it likely would not work in any case.
The changes to enable this would involve removing many check for valid position estimate.
I am getting position estimation from SLAM. I want to test a flight without SLAM to check the feasibility of onboard IMU in the Flight Controller
Without any additional sensors, your position estimates will drift wildly. You can perhaps slow down this drift with an optical flow sensor. But in general, IMU only position estimate will drift widly after a while.
The word “position mode” in px4 needs GPS data for its stabilization and positioning.
If you are not using GPS , the next modes in line of your question are “attitude” which does not take GPS , but takes barometric readings for height stabilization. The next one is “stabilized” which does not take barometric readings or GPS so fully dependent on IMU readings (there are more like acro). Both attitude and stabilized can be armed and flown without GPS.
But as usual with IMU dependency , you will experience a drift which you need to overcome.
Yes. It will drift, but how I make it enable in position
Yes. It will drift. but how to enable position flights without GPS to avoid Invalid Global-Position and without SLAM to avoid Invalid Local-Position, totally depends on Pixhawk Flight controller sensors like Imu and Barometer. Do I need to modify the Parameters or make changes on the firmware level