Hi,
I was successfully using mocap for pose estimation until recently. I just updated the firmware on my pixhawk through QGC 3.0.0 (tried it twice). Updated Mavros to 0.17.4 on ROS Indigo.
I’m publishing to vision topic /mavros/vision_pose/pose but echoing the /mavros/local_position/pose is giving me different values. I can see that moving the vehicle introduces changes to those values so, my guess is that there are some unwanted filters being applied over my values.
Example of values being sent by a code that was working fine so far:
-0.17 1.53 0.16 0.01 0.00 0.65 # x, y, z, roll, pitch, yaw
Mavros node shows the following which interestingly has swapped the x and y value.:
[ INFO] [1449848270.607429699]: FCU: [lpe] vision position init: 1.53 -0.17 -0.16 m s
mavros/vision_pose/pose sample:
---
header:
seq: 1311
stamp:
secs: 1449848016
nsecs: 782612416
frame_id: fcu
pose:
position:
x: 0.00307422527112
y: 0.00486058322713
z: -1.87768530846
orientation:
x: -0.00456124526988
y: -0.0241043553168
z: -0.956350739566
w: -0.291189694234
---
I’ve tried to set the values for some parameters found in https://pixhawk.org/firmware/parameters but received the following errors:
[ERROR] [1449848580.090083069]: PR: Unknown parameter to get: INAV_W_Z_VIS_P
[ERROR] [1449848604.929257906]: PR: Unknown parameter to get: INAV_W_XY_VIS_P
[ERROR] [1449848629.545696700]: PR: Unknown parameter to get: INAV_W_MOC_P
[ERROR] [1449848668.490732996]: PR: Unknown parameter to get: INAV_W_Z_BARO
[ERROR] [1449849711.621053162]: PR: Unknown parameter to get: CBRK_NO_VISION
Trying some other random parameters:
$ rosservice call /mavros/param/get ATT_EXT_HDG_M
success: True
value:
integer: 1
real: 0.0
$ rosservice call /mavros/param/get LPE_VIS_Z
success: True
value:
integer: 0
real: 0.5
$ rosservice call /mavros/param/get LPE_VIS_XY
success: True
value:
integer: 0
real: 0.5
Looking at parameters through QGC shows only EKF2_REC_PRL in EKF2 section and only INAV_LIDAR_ERR in Position Estimator INAV section.
Any help is appreciated.