I want to fly a quadrotor indoors and i DO NOT want to use Optitrack system.
I indend to just maintain the altitude indoors and pass in roll, pitch and yaw attitude commands to pixhawk.
Following is the system I have:
- Optical Flow sensor Px4Flow
- Laser Range finder.
I have enabled the following parameters in the px4 firmware:
- EKF2_AID_MASK “Set to optical Flow”
- EKF2_HGT_MODE “Range Sensor”
- EKF2_RNG_AID “1 (Range aid enabled)”
When I try to test it with POSITION mode under these conditions, pixhawk rejects POSITION mode.
I am not sure if POSITION mode is the best for testing this setup manually. If this is not the correct approach, I will really appreciate if someone can help with pointing out the correct parameter setting for pixhawk.
Eventually, I want to test the drone in OFFBOARD mode. For OFFBOARD control, I use mavros. I have already tested the platform with the external vision system (optitrack mocap). And I was able to do the waypoint navigation, etc. in the offboard mode with MOCAP feedback. Now, I want to do it without MOCAP.
Thank you in advance.