Training DL Model on IMU + Ground Truth, GPS-denied Simulation, and Vision Pose Integration in PX4 SITL

PX4 Autopilot
1

Hello,

I am working on integrating a Deep Learning (DL) model into PX4 SITL for GPS-denied navigation. I have three related questions:

Q1. DL Model Training Data
I want to train a DL model on IMU and ground truth data. Currently, I record data with rosbag during SITL missions using QGroundControl.

  • As input I use: /mavros/imu/data_raw

  • As ground truth I use: /gazebo/model_states

  • I trained a CNN-LSTM model on this data.

:backhand_index_pointing_right: My question: Are these the correct MAVROS topics for training (input: IMU, output: ground truth position/orientation)? Or should I consider other topics like /mavros/local_position/pos?

Q2. GPS-denied Simulation
I want to turn off GPS in PX4 SITL so that the drone only relies on IMU + my DL model (via vision pose).
:backhand_index_pointing_right: What is the recommended way to disable GPS in PX4 v1.13 SITL with Gazebo Classic?

  • Should I remove the GPS plugin from iris.sdf?

  • Or just set EKF2_AID_MASK to disable GPS aiding?

Q3. Using DL Model in Simulation
My DL model runs as a ROS node:

  • Subscribes to /mavros/imu/data_raw

  • Publishes predicted position/orientation to /mavros/vision_pose/pose

In SITL I run:

  • Terminal 1: Gazebo empty world

  • Terminal 2: PX4 SITL (make px4_sitl_default gazebo)

  • Terminal 3: MAVROS (roslaunch mavros px4.launch)

  • Terminal 4: DL model node (cnn_lstm.py)

  • Terminal 5: Plotting node (plot_trajectory.py)

  • Terminal 6: Mission node (simple takeoff, move forward, land)

For Vision Pose I set in PX4 shell:

param set EKF2_AID_MASK 24
param set EKF2_HGT_MODE 3

For GPS I use:

param set EKF2_AID_MASK 1
param set EKF2_HGT_MODE 0

:backhand_index_pointing_right: Question: Are these the correct parameters to let PX4 use my DL model (via /mavros/vision_pose/pose) instead of GPS? Do I need to set anything else to stabilize the drone in GPS-denied conditions?

Summary:

  • Q1: Correct MAVROS topics for IMU + ground truth training

  • Q2: How to properly disable GPS in SITL

  • Q3: Correct parameter setup for Vision Pose + DL model integration

Any guidance or corrections from the community would be very helpful :folded_hands:

Thanks!

2

Disabling the plugin should do the trick. Otherwise, disable it from publishing here:

For the other questions, I’m not sure. I’d have to check the details in code.

If I was you I would do this with new Gazebo and 1.16, just because that’s where you’re more likely going to get answers.