I’m currently working with Pixhawk mini, PX4 and Mavros (ROS Melodic) to do an automatic flight.
I would like to control the drone with my computer and Mavros. The drone is conected with an FTDI cable and for the moment I can send some commands with Mavros and change the OFFBOARD mode.
I succeeded to do an outdoor takeoff with the following commands :
roslaunch mavros px4.launch fcu_url:="/dev/ttyUSB0:57600"
rosrun mavros mavsafety arm
rosrun mavros mavcmd sethome -c 0 0 0
rosrun mavros mavcmd takeoffcur 0.1 0.1 0.2 (min_pitch , yaw, altitude)
rosrun mavros mavcmd landcur 0.0 0.0 (yaw, altitude)
rosrun mavros mavsafety disarm
However, when I want to do an indoor takeoff, I need to locate the drone to set the home position but I don’t know how to do without the GPS. I saw in the PX4 website the tutorial Using Vision or Motion Capture Systems for Position Estimation but I don’t have any camera. Is there someone who faced the same problem and solved it ?
Thank you for your suggestions