Hi everyone, I’m working on a differential rover with Px4 1.16.0 o pixhawk 6C autopilot. For localization i’m using ev (hector slam) and, since it’s a indoor rover it doesn’t mount a gps.
My issue is that it won’t enter mission flight mode and QGround displays the error:
[13:05:41.438 ] Critical: Switching to mode ‘Mission’ is currently not possible
- Navigation error: No valid global position estimate
- Navigation error: No valid altitude estimate
Now, i’m forcing the rover to have a global position using the command ‘commander set_ekf_origin‘ and it seems to be working since I see the rover on the QGround map and in analyze tools I also see that the message global_position_int is being published correctly. In the log file however, even though the latitude and longitude values in vehicle_global_position are updated just fine the failsafe flag global_position_invalid is always 1.
In the log I also see that the failsafe flag local_altitude_invalid is set to 1 which would explain the navigation error above. However, I don’t see why the altitude should matter for px4 rover since it moves only in 2d. Is it a bug or am I missing something?
Thank you