Motors not responding in LPE + Mocap

PX4 Autopilot Configuration & Flight Modes ⚙️
1

Hi,

Using EKF2 Estimator, in manual mode motors respond. However, I wanna be able to control the drone using motion capture, so when I use LPE, motors are irresponsive in both manual and position control modes. Am I missing something?

PS: I am using Navio2.

Thank you
Prasanth

2 Likes
2

@vkotaru How are you forwarding the motion capture data to PX4?

Did you check if you have a position fix when the mocap is being forwarded?

3

Hi @Jaeyoung-Lim,

I’m using mavros to forward the motion capture data by publishing the pose from optitrack as /mavros/mocap/pose. I’m using udp to communicate with the RaspberryPi + Navio2 setup (on the drone).

However, I don’t think the drone has a position fix.

Thanks

4

I am able to rostopic echo /mavros/local_position/pose (which streams the same pose information as /mavros/mocap/pose at a smaller rate), so I’m guessing that the drone has a position fix.

5

@vkotaru It would be better if you can provide any logs or error messages you are getting from the drone. From the facts that you have presented, it is hard to tell what the problem is