I’m using the X500-V2 with PX4-V6C, Jetson Nano, ROS2 Foxy, RTPS, Autopilot 1.13.3, and Arkflow for position control. I know that solely using Arkflow has its downsides, but I’m in an indoor environment and for my purposes, it has proven to be accurate enough.
I do not have access to GPS or magnetometry info, so no global position estimate is available.
I am performing offboard mode takeoffs with published setpoints over the trajectorysetpoint uORB. The first launch is successful; however, when I try to perform a second launch, there is a significant drift. The problem gets worse with each subsequent launch (I’m assuming error buildup in something). When I unplug the drone and plug it back in, the first launch is fine again.
I also think there is another symptom of the same issue, which is when I publish the initial setpoints for the launch location, I take the current position data from odometry (odom), store those in a variable, and use that to take off from the current location. However, when performing this in the simulation, the drone always returns to 0, 0, -1.5, even though the trajectorysetpoint/in topic shows the correct values.
I am missing something, I think, and any suggestions would be much appreciated.
I am aware that in the offboard control mode, it says to use takeoff and land mode for these actions. However, I am unable to do so without GPS, so this is unfortunately not a solution I have been able to get working.