Hello, I am newbie on PX4 Autopilot.
Without GPS, GCS, or Companion Computer, our team needs to connect our custom device to PX4 with UART to control the take-off, movement, landing, hovering, etc. of the drone. Fortunately, the custom device gives XYZ coordinates and even successfully sends them to External Vision in the uORB message. In the communication format, we made it into the current position (XYZ) + control command. We are simulating with PX4_SITL, GZ_X500 because the actual product of Holybro X500 v2+Pixhawk 6x has not arrived yet. I’m looking for general advice.
The parameters set so far are as follows.
param set EKF2_EV_CTRL 3 # 3 is taking 3D data, 1 is taking only 2D(x,y) data
param set EKF2_EV_NOISE_MD 1
param set EKF2_FUSE_BETA 1
param set EKF2_GPS_CHECK 0
param set EKF2_GPS_CTRL 0
param set EKF2_OF_CTRL 0
param set EKF2_RNG_CTRL 0
# param set EKF2_HGT_REF 3 # reboot required, so configured parameter file
param set SYS_HAS_GPS 0
param set COM_ARM_WO_GPS 2 # disable GPS preflight check
param set COM_ARMABLE 1 # FORCE arming
param set NAV_DLL_ACT 0 # disable check GCS connection
I use PX4 v1.16.0, WSL2, Ubuntu-22.04
log..