how to set home position with mavros / no GPS?
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hi dev,
My voxl is running on mavros without GPS.
please look at below log,
roskinetic:mavros_test$ ./run_mavros_test.sh ... logging to /root/.ros/log/bd6cd59a-1283-11ec-8c7e-ec5c68cd25a1/roslaunch-apq8096-69.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.168.100:53481/ SUMMARY ======== CLEAR PARAMETERS * /mavros/ PARAMETERS * /mavros/cmd/use_comp_id_system_control: False * /mavros/conn/heartbeat_rate: 1.0 * /mavros/conn/system_time_rate: 1.0 * /mavros/conn/timeout: 10.0 * /mavros/conn/timesync_rate: 10.0 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar * /mavros/distance_sensor/hrlv_ez4_pub/id: 0 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/laser_1_sub/id: 3 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/laser_1_sub/subscriber: True * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser * /mavros/distance_sensor/lidarlite_pub/id: 1 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270 * /mavros/distance_sensor/lidarlite_pub/send_tf: True * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1 * /mavros/distance_sensor/sonar_1_sub/id: 2 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270 * /mavros/distance_sensor/sonar_1_sub/subscriber: True * /mavros/fake_gps/eph: 2.0 * /mavros/fake_gps/epv: 2.0 * /mavros/fake_gps/fix_type: 3 * /mavros/fake_gps/geo_origin/alt: 408.0 * /mavros/fake_gps/geo_origin/lat: 47.3667 * /mavros/fake_gps/geo_origin/lon: 8.55 * /mavros/fake_gps/gps_rate: 5.0 * /mavros/fake_gps/mocap_transform: True * /mavros/fake_gps/satellites_visible: 5 * /mavros/fake_gps/tf/child_frame_id: fix * /mavros/fake_gps/tf/frame_id: map * /mavros/fake_gps/tf/listen: False * /mavros/fake_gps/tf/rate_limit: 10.0 * /mavros/fake_gps/tf/send: False * /mavros/fake_gps/use_mocap: True * /mavros/fake_gps/use_vision: False * /mavros/fcu_protocol: v2.0 * /mavros/fcu_url: udp://127.0.0.1:1... * /mavros/gcs_url: * /mavros/global_position/child_frame_id: base_link * /mavros/global_position/frame_id: map * /mavros/global_position/gps_uere: 1.0 * /mavros/global_position/rot_covariance: 99999.0 * /mavros/global_position/tf/child_frame_id: base_link * /mavros/global_position/tf/frame_id: map * /mavros/global_position/tf/global_frame_id: earth * /mavros/global_position/tf/send: False * /mavros/global_position/use_relative_alt: True * /mavros/image/frame_id: px4flow * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0... * /mavros/imu/frame_id: base_link * /mavros/imu/linear_acceleration_stdev: 0.0003 * /mavros/imu/magnetic_stdev: 0.0 * /mavros/imu/orientation_stdev: 1.0 * /mavros/landing_target/camera/fov_x: 2.0071286398 * /mavros/landing_target/camera/fov_y: 2.0071286398 * /mavros/landing_target/image/height: 480 * /mavros/landing_target/image/width: 640 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL * /mavros/landing_target/listen_lt: False * /mavros/landing_target/mav_frame: LOCAL_NED * /mavros/landing_target/target_size/x: 0.3 * /mavros/landing_target/target_size/y: 0.3 * /mavros/landing_target/tf/child_frame_id: camera_center * /mavros/landing_target/tf/frame_id: landing_target * /mavros/landing_target/tf/listen: False * /mavros/landing_target/tf/rate_limit: 10.0 * /mavros/landing_target/tf/send: True * /mavros/local_position/frame_id: map * /mavros/local_position/tf/child_frame_id: base_link * /mavros/local_position/tf/frame_id: map * /mavros/local_position/tf/send: False * /mavros/local_position/tf/send_fcu: False * /mavros/mission/pull_after_gcs: True * /mavros/mission/use_mission_item_int: True * /mavros/mocap/use_pose: True * /mavros/mocap/use_tf: False * /mavros/odometry/fcu/odom_child_id_des: base_link * /mavros/odometry/fcu/odom_parent_id_des: map * /mavros/plugin_blacklist: ['safety_area', '... * /mavros/plugin_whitelist: [] * /mavros/px4flow/frame_id: px4flow * /mavros/px4flow/ranger_fov: 0.118682 * /mavros/px4flow/ranger_max_range: 5.0 * /mavros/px4flow/ranger_min_range: 0.3 * /mavros/safety_area/p1/x: 1.0 * /mavros/safety_area/p1/y: 1.0 * /mavros/safety_area/p1/z: 1.0 * /mavros/safety_area/p2/x: -1.0 * /mavros/safety_area/p2/y: -1.0 * /mavros/safety_area/p2/z: -1.0 * /mavros/setpoint_accel/send_force: False * /mavros/setpoint_attitude/reverse_thrust: False * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude * /mavros/setpoint_attitude/tf/frame_id: map * /mavros/setpoint_attitude/tf/listen: False * /mavros/setpoint_attitude/tf/rate_limit: 50.0 * /mavros/setpoint_attitude/use_quaternion: False * /mavros/setpoint_position/mav_frame: LOCAL_NED * /mavros/setpoint_position/tf/child_frame_id: target_position * /mavros/setpoint_position/tf/frame_id: map * /mavros/setpoint_position/tf/listen: False * /mavros/setpoint_position/tf/rate_limit: 50.0 * /mavros/setpoint_raw/thrust_scaling: 1.0 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED * /mavros/startup_px4_usb_quirk: True * /mavros/sys/disable_diag: False * /mavros/sys/min_voltage: 10.0 * /mavros/target_component_id: 1 * /mavros/target_system_id: 1 * /mavros/tdr_radio/low_rssi: 40 * /mavros/time/time_ref_source: fcu * /mavros/time/timesync_avg_alpha: 0.6 * /mavros/time/timesync_mode: MAVLINK * /mavros/vibration/frame_id: base_link * /mavros/vision_pose/tf/child_frame_id: vision_estimate * /mavros/vision_pose/tf/frame_id: odom * /mavros/vision_pose/tf/listen: False * /mavros/vision_pose/tf/rate_limit: 10.0 * /mavros/vision_speed/listen_twist: True * /mavros/vision_speed/twist_cov: True * /mavros/wheel_odometry/child_frame_id: base_link * /mavros/wheel_odometry/count: 2 * /mavros/wheel_odometry/frame_id: odom * /mavros/wheel_odometry/send_raw: True * /mavros/wheel_odometry/send_twist: False * /mavros/wheel_odometry/tf/child_frame_id: base_link * /mavros/wheel_odometry/tf/frame_id: odom * /mavros/wheel_odometry/tf/send: False * /mavros/wheel_odometry/use_rpm: False * /mavros/wheel_odometry/vel_error: 0.1 * /mavros/wheel_odometry/wheel0/radius: 0.05 * /mavros/wheel_odometry/wheel0/x: 0.0 * /mavros/wheel_odometry/wheel0/y: -0.15 * /mavros/wheel_odometry/wheel1/radius: 0.05 * /mavros/wheel_odometry/wheel1/x: 0.0 * /mavros/wheel_odometry/wheel1/y: 0.15 * /rosdistro: kinetic * /rosversion: 1.12.17 NODES / mavros (mavros/mavros_node) mavros_test_node (mavros_test/mavros_test_node) auto-starting new master process[master]: started with pid [79] ROS_MASTER_URI=http://192.168.168.100:11311/ setting /run_id to bd6cd59a-1283-11ec-8c7e-ec5c68cd25a1 process[rosout-1]: started with pid [92] started core service [/rosout] process[mavros-2]: started with pid [110] process[mavros_test_node-3]: started with pid [111] x: 0.000 y: 0.000 yaw: 45.0 x: 0.020 y: 0.020 yaw: 44.9 x: 0.039 y: 0.039 yaw: 44.7 x: 0.059 y: 0.059 yaw: 44.4 x: 0.079 y: 0.078 yaw: 43.9 x: 0.099 y: 0.098 yaw: 43.3 x: 0.120 y: 0.117 yaw: 42.6 x: 0.141 y: 0.136 yaw: 41.7 x: 0.162 y: 0.154 yaw: 40.7 x: 0.184 y: 0.173 yaw: 39.5 x: 0.206 y: 0.191 yaw: 38.2 x: 0.229 y: 0.208 yaw: 36.7 x: 0.253 y: 0.225 yaw: 35.1 x: 0.277 y: 0.242 yaw: 33.3 x: 0.303 y: 0.258 yaw: 31.4 x: 0.328 y: 0.273 yaw: 29.2 x: 0.355 y: 0.287 yaw: 26.9 x: 0.383 y: 0.301 yaw: 24.4 x: 0.412 y: 0.313 yaw: 21.7 x: 0.441 y: 0.324 yaw: 18.9 x: 0.471 y: 0.333 yaw: 15.8 x: 0.503 y: 0.341 yaw: 12.5 x: 0.535 y: 0.347 yaw: 9.0 x: 0.568 y: 0.351 yaw: 5.3 x: 0.601 y: 0.353 yaw: 1.3 x: 0.635 y: 0.353 yaw: -2.8 x: 0.670 y: 0.350 yaw: -7.2 x: 0.704 y: 0.344 yaw: -11.9 x: 0.739 y: 0.335 yaw: -16.7 x: 0.773 y: 0.324 yaw: -21.8 x: 0.806 y: 0.308 yaw: -27.2 x: 0.838 y: 0.290 yaw: -32.7 x: 0.868 y: 0.268 yaw: -38.5 x: 0.896 y: 0.243 yaw: -44.4 x: 0.922 y: 0.215 yaw: -50.6 x: 0.945 y: 0.184 yaw: -56.9 x: 0.964 y: 0.151 yaw: -63.3 x: 0.980 y: 0.115 yaw: -69.9 x: 0.991 y: 0.078 yaw: -76.5 x: 0.998 y: 0.039 yaw: -83.3 x: 1.000 y: -0.000 yaw: 270.0 x: 0.998 y: -0.039 yaw: 263.3 x: 0.991 y: -0.078 yaw: 256.5 x: 0.980 y: -0.115 yaw: 249.9 x: 0.964 y: -0.151 yaw: 243.3 x: 0.945 y: -0.184 yaw: 236.9 x: 0.922 y: -0.215 yaw: 230.6 x: 0.896 y: -0.243 yaw: 224.4 x: 0.868 y: -0.268 yaw: 218.5 x: 0.838 y: -0.290 yaw: 212.7 x: 0.806 y: -0.308 yaw: 207.2 x: 0.773 y: -0.324 yaw: 201.8 x: 0.739 y: -0.335 yaw: 196.7 x: 0.704 y: -0.344 yaw: 191.9 x: 0.670 y: -0.350 yaw: 187.2 x: 0.635 y: -0.353 yaw: 182.8 x: 0.601 y: -0.353 yaw: 178.7 x: 0.568 y: -0.351 yaw: 174.7 x: 0.535 y: -0.347 yaw: 171.0 x: 0.503 y: -0.341 yaw: 167.5 x: 0.471 y: -0.333 yaw: 164.2 x: 0.441 y: -0.324 yaw: 161.1 x: 0.412 y: -0.313 yaw: 158.3 x: 0.383 y: -0.301 yaw: 155.6 x: 0.355 y: -0.287 yaw: 153.1 x: 0.328 y: -0.273 yaw: 150.8 x: 0.303 y: -0.258 yaw: 148.6 x: 0.277 y: -0.242 yaw: 146.7 x: 0.253 y: -0.225 yaw: 144.9 x: 0.229 y: -0.208 yaw: 143.3 x: 0.206 y: -0.191 yaw: 141.8 x: 0.184 y: -0.173 yaw: 140.5 x: 0.162 y: -0.154 yaw: 139.3 x: 0.141 y: -0.136 yaw: 138.3 x: 0.120 y: -0.117 yaw: 137.4 x: 0.099 y: -0.098 yaw: 136.7 x: 0.079 y: -0.078 yaw: 136.1 x: 0.059 y: -0.059 yaw: 135.6 x: 0.039 y: -0.039 yaw: 135.3 x: 0.020 y: -0.020 yaw: 135.1 x: 0.000 y: -0.000 yaw: 135.0 x: -0.020 y: 0.020 yaw: 135.1 x: -0.039 y: 0.039 yaw: 135.3 x: -0.059 y: 0.059 yaw: 135.6 x: -0.079 y: 0.078 yaw: 136.1 x: -0.099 y: 0.098 yaw: 136.7 x: -0.120 y: 0.117 yaw: 137.4 x: -0.141 y: 0.136 yaw: 138.3 x: -0.162 y: 0.154 yaw: 139.3 x: -0.184 y: 0.173 yaw: 140.5 x: -0.206 y: 0.191 yaw: 141.8 x: -0.229 y: 0.208 yaw: 143.3 x: -0.253 y: 0.225 yaw: 144.9 x: -0.277 y: 0.242 yaw: 146.7 x: -0.303 y: 0.258 yaw: 148.6 x: -0.328 y: 0.273 yaw: 150.8 x: -0.355 y: 0.287 yaw: 153.1 x: -0.383 y: 0.301 yaw: 155.6 x: -0.412 y: 0.313 yaw: 158.3 x: -0.441 y: 0.324 yaw: 161.1 x: -0.471 y: 0.333 yaw: 164.2 x: -0.503 y: 0.341 yaw: 167.5 x: -0.535 y: 0.347 yaw: 171.0 x: -0.568 y: 0.351 yaw: 174.7 x: -0.601 y: 0.353 yaw: 178.7 x: -0.635 y: 0.353 yaw: 182.8 x: -0.670 y: 0.350 yaw: 187.2 x: -0.704 y: 0.344 yaw: 191.9 x: -0.739 y: 0.335 yaw: 196.7 x: -0.773 y: 0.324 yaw: 201.8 x: -0.806 y: 0.308 yaw: 207.2 x: -0.838 y: 0.290 yaw: 212.7 x: -0.868 y: 0.268 yaw: 218.5 x: -0.896 y: 0.243 yaw: 224.4 x: -0.922 y: 0.215 yaw: 230.6 x: -0.945 y: 0.184 yaw: 236.9 x: -0.964 y: 0.151 yaw: 243.3 x: -0.980 y: 0.115 yaw: 249.9 x: -0.991 y: 0.078 yaw: 256.5 x: -0.998 y: 0.039 yaw: 263.3 x: -1.000 y: 0.000 yaw: 270.0 x: -0.998 y: -0.039 yaw: -83.3 x: -0.991 y: -0.078 yaw: -76.5 x: -0.980 y: -0.115 yaw: -69.9 x: -0.964 y: -0.151 yaw: -63.3 x: -0.945 y: -0.184 yaw: -56.9 x: -0.922 y: -0.215 yaw: -50.6 x: -0.896 y: -0.243 yaw: -44.4 x: -0.868 y: -0.268 yaw: -38.5 x: -0.838 y: -0.290 yaw: -32.7 x: -0.806 y: -0.308 yaw: -27.2 x: -0.773 y: -0.324 yaw: -21.8 x: -0.739 y: -0.335 yaw: -16.7 x: -0.704 y: -0.344 yaw: -11.9 x: -0.670 y: -0.350 yaw: -7.2 x: -0.635 y: -0.353 yaw: -2.8 x: -0.601 y: -0.353 yaw: 1.3 x: -0.568 y: -0.351 yaw: 5.3 x: -0.535 y: -0.347 yaw: 9.0 x: -0.503 y: -0.341 yaw: 12.5 x: -0.471 y: -0.333 yaw: 15.8 x: -0.441 y: -0.324 yaw: 18.9 x: -0.412 y: -0.313 yaw: 21.7 x: -0.383 y: -0.301 yaw: 24.4 x: -0.355 y: -0.287 yaw: 26.9 x: -0.328 y: -0.273 yaw: 29.2 x: -0.303 y: -0.258 yaw: 31.4 x: -0.277 y: -0.242 yaw: 33.3 x: -0.253 y: -0.225 yaw: 35.1 x: -0.229 y: -0.208 yaw: 36.7 x: -0.206 y: -0.191 yaw: 38.2 x: -0.184 y: -0.173 yaw: 39.5 x: -0.162 y: -0.154 yaw: 40.7 x: -0.141 y: -0.136 yaw: 41.7 x: -0.120 y: -0.117 yaw: 42.6 x: -0.099 y: -0.098 yaw: 43.3 x: -0.079 y: -0.078 yaw: 43.9 x: -0.059 y: -0.059 yaw: 44.4 x: -0.039 y: -0.039 yaw: 44.7 x: -0.020 y: -0.020 yaw: 44.9 [ INFO] [1631311759.388793603]: FCU URL: udp://127.0.0.1:14551@:14551 [ INFO] [1631311759.396783070]: udp0: Bind address: 127.0.0.1:14551 [ INFO] [1631311759.397976982]: GCS bridge disabled [ INFO] [1631311759.400245795]: udp0: Remote address: 127.0.0.1:56806 [ INFO] [1631311759.447812595]: Plugin 3dr_radio loaded [ INFO] [1631311759.455343049]: Plugin 3dr_radio initialized [ INFO] [1631311759.455714561]: Plugin actuator_control loaded [ INFO] [1631311759.471968184]: Plugin actuator_control initialized [ INFO] [1631311759.472289071]: Plugin altitude loaded [ INFO] [1631311759.477115397]: Plugin altitude initialized [ INFO] [1631311759.477494201]: Plugin command loaded [ INFO] [1631311759.510242697]: Plugin command initialized [ INFO] [1631311759.510686710]: Plugin ftp loaded [ INFO] [1631311759.550411179]: Plugin ftp initialized [ INFO] [1631311759.552109312]: Plugin global_position loaded [ INFO] [1631311759.685369351]: Plugin global_position initialized [ INFO] [1631311759.685913364]: Plugin hil loaded [ INFO] [1631311759.813216915]: Plugin hil initialized [ INFO] [1631311759.816774121]: Plugin home_position loaded [ INFO] [1631311759.845911922]: Plugin home_position initialized [ INFO] [1631311759.848653811]: Plugin imu loaded [ INFO] [1631311759.913209132]: Plugin imu initialized [ INFO] [1631311759.916826546]: Plugin local_position loaded [ INFO] [1631311759.970901399]: Plugin local_position initialized [ INFO] [1631311759.971396141]: Plugin manual_control loaded [ INFO] [1631311759.993519845]: Plugin manual_control initialized [ INFO] [1631311759.994084223]: Plugin param loaded [ INFO] [1631311760.014276407]: Plugin param initialized [ INFO] [1631311760.017012514]: Plugin rc_io loaded [ INFO] [1631311760.041773471]: Plugin rc_io initialized [ INFO] [1631311760.043022904]: Plugin safety_area blacklisted [ INFO] [1631311760.046509067]: Plugin setpoint_accel loaded [ INFO] [1631311760.074815250]: Plugin setpoint_accel initialized [ INFO] [1631311760.075271398]: Plugin setpoint_attitude loaded [ INFO] [1631311760.144847734]: Plugin setpoint_attitude initialized [ INFO] [1631311760.146022480]: Plugin setpoint_position loaded [ INFO] [1631311760.275279478]: Plugin setpoint_position initialized [ INFO] [1631311760.275659896]: Plugin setpoint_raw loaded [ INFO] [1631311760.341442620]: Plugin setpoint_raw initialized [ INFO] [1631311760.342054550]: Plugin setpoint_trajectory loaded [ INFO] [1631311760.379593123]: Plugin setpoint_trajectory initialized [ INFO] [1631311760.380600315]: Plugin setpoint_velocity loaded [ INFO] [1631311760.427143880]: Plugin setpoint_velocity initialized [ INFO] [1631311760.430494782]: Plugin sys_status loaded [ INFO] [1631311760.519124391]: Plugin sys_status initialized [ INFO] [1631311760.521015025]: Plugin sys_time loaded [ INFO] [1631311760.565975978]: TM: Timesync mode: MAVLINK [ INFO] [1631311760.579198961]: Plugin sys_time initialized [ INFO] [1631311760.583767786]: Plugin vfr_hud loaded [ INFO] [1631311760.589396408]: Plugin vfr_hud initialized [ INFO] [1631311760.590035838]: Plugin waypoint loaded [ INFO] [1631311760.629887703]: Plugin waypoint initialized [ INFO] [1631311760.632079329]: Plugin wind_estimation loaded [ INFO] [1631311760.635810285]: Plugin wind_estimation initialized [ INFO] [1631311760.636696799]: Autostarting mavlink via USB on PX4 [ INFO] [1631311760.638840873]: Built-in SIMD instructions: ARM NEON [ INFO] [1631311760.639629314]: Built-in MAVLink package version: 2021.3.3 [ INFO] [1631311760.640208692]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta [ INFO] [1631311760.640389526]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [ INFO] [1631311760.648647849]: IMU: High resolution IMU detected! [ INFO] [1631311760.656519502]: IMU: Attitude quaternion IMU detected! [ INFO] [1631311761.215702236]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot [ INFO] [1631311761.230725019]: IMU: High resolution IMU detected! [ INFO] [1631311761.231438721]: IMU: Attitude quaternion IMU detected! [ INFO] [1631311762.230214739]: WP: Using MISSION_ITEM_INT [ INFO] [1631311762.230674168]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1631311762.232728918]: VER: 1.1: Flight software: 010b03ff (ce719e0511000005) [ INFO] [1631311762.233295952]: VER: 1.1: Middleware software: 010b03ff (ce719e0511000000) [ INFO] [1631311762.233867934]: VER: 1.1: OS software: 080200ff (ec20f2e6c5cc35b2) [ INFO] [1631311762.234381114]: VER: 1.1: Board hardware: 0000a32f [ INFO] [1631311762.235505494]: VER: 1.1: VID/PID: 0483:a32f [ INFO] [1631311762.235855600]: VER: 1.1: UID: 3438510a39303535 [ WARN] [1631311762.236558312]: CMD: Unexpected command 520, result 0 [ INFO] [1631311764.156329648]: waiting for offboard mode [ INFO] [1631311771.216674825]: HP: requesting home position [ INFO] [1631311776.228601254]: WP: item #0* F: C: 22 p: 0 0 0 nan x: 371699104 y: 1271139145 z: 50 [ INFO] [1631311776.229194590]: WP: mission received [ INFO] [1631311781.218118457]: HP: requesting home position [ INFO] [1631311791.216390876]: HP: requesting home position [ WARN] [1631311797.217363066]: CMD: Unexpected command 176, result 1 [ INFO] [1631311801.216690857]: HP: requesting home position [ INFO] [1631311811.216691357]: HP: requesting home position [ INFO] [1631311821.217165245]: HP: requesting home position [ INFO] [1631311831.217288715]: HP: requesting home position [ INFO] [1631311841.216430044]: HP: requesting home positionmavros require home position. but, I have no GPS mode.
I wanna set local origin to home position for indoor flight.
could you please let me know how to set home position for indoor flight?
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