GPS not working
-
you will likely want to configure px4 params to suit your exact use case, e.g. some people will want it to arm without a gps lock, some won't. As a starting point we have "helper" files that can be loaded through QGC that set up the handful of relevant PX4 params for indoor vs outdoor flight
Here is the outdoor helper for px4 1.12:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.12/ekf2_outdoor_gps_mag.paramsAnd the helpers for PX4 1.14:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/tree/master/params/v1.14/EKF2_helpers -
@James-Strawson Awesome, thanks I am going to load the outdoor params. Just didn't know if someone had already blessed us all with a known good config.
-
@James-Strawson If i stop and disable the VIO server will that still allow GPS to pass through? I am getting good satellite and HDOP but the GPS never transitions from flashing blue to green with the ekf2_outdoor_gps_baro params. it is causing the platform to not allow me to put it in POSCTL. I do not intend to do GPS denied flights at this time and am trying to focus on outdoor 5G flights for a while to build confidence in our GCS software interactions with VOXL.
-
@JustinDev23 These parameter settings won't affect the ability of the GPS receiver to get a lock. It is an independent unit and not affected by VIO in any way.
-
@Eric-Katzfey, thanks for the response and clarifying.
I had a 3D Fix but wasnt able to switch from Manual to Position. I have worked on other projects with Ardupilot mission planner and it could blend or use best from different sources. I wasnt sure exactly how your implementation of GPS and VIO were working together on feeding positional data to the PX4 autopilot.
-
@JustinDev23 You can have GPS fix and not have GPS lock on the PX4. Have you checked the number of satellites on QGC? From my experience, GPS lock (required to switch to Position mode) is achieved with 12 satellites or more.
Maybe test the drone on a new location with more open space, that did the trick for me. -
@Andre-Moura sat and hdop have not been an issue on QGC. ekf2_req_nsats is set to 6 and i have had no obstructions and in open space.
GPS Horizontal Pos Error too high with 9 sats and 1.4 hdop
-
And if it is not that it is GPS Speed Accuracy too low
I would hate to disable those checks but i feel like it is something else that is causing this to occur.
@Eric-Katzfey Is there a flow chart for what all is feeding position information to PX4 from VOXL2?
-
@JustinDev23 This is the closest to what you're looking for: https://docs.modalai.com/voxl-px4-developer-guide/
-
@tom Thanks! Looks like what i needed.