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    GPS Denied Environment with VIO

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    • K
      Karl_Wright
      last edited by

      Hello,

      I have a Flight Deck controlling motors through the ModalAI ESC (v2). The drone is updated with firmware v1.11.3-0.0.5 and has parameters loaded from this repository as follows:

      platforms --> v1.11 --> m500_4s_config

      helpers --> m500 --> collision_prevention, ekf2_indoor_vio, and enable_uart_esc

      I am able to actuate the motors through voxl-px4-shell, but cannot arm the drone because of a GPS error.

      My goal is to get the drone flying indoors with VIO position mode.

      Is there a way to diagnose the GPS error to determine the source of the problem?

      Here's the output from nsh> gps status.

      INFO [gps] Main GPS
      INFO [gps] protocol: UBX
      INFO [gps] status: OK, port: /dev/ttyS0, baudrate: 115200
      INFO [gps] sat info: disabled
      INFO [gps] rate position: 5.00 Hz
      INFO [gps] rate velocity: 5.00 Hz
      INFO [gps] rate publication: 5.00 Hz
      INFO [gps] rate RTCM injection: 0.00 Hz
      vehicle_gps_position_s
      timestamp: 37432344 (0.001194 seconds ago)
      time_utc_usec: 0
      lat: 0
      lon: 0
      alt: -17000
      alt_ellipsoid: 0
      s_variance_m_s: 33.4660
      c_variance_rad: 3.1416
      eph: 4294967.5000
      epv: 3750018.5000
      hdop: 99.9900
      vdop: 99.9900
      noise_per_ms: 104
      jamming_indicator: 33
      vel_m_s: 0.0000
      vel_n_m_s: 0.0000
      vel_e_m_s: 0.0000
      vel_d_m_s: 0.0000
      cog_rad: 0.0000
      timestamp_time_relative: 0
      heading: nan
      heading_offset: 0.0000
      fix_type: 0
      vel_ned_valid: False
      satellites_used: 0

      Thanks in advance!

      Karl

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      • M
        mohammednaveed
        last edited by

        Dear @Karl_Wright
        After powering on your drone go to mavlink inspector and check at odometry tab whether X and Y data is non zero. if it's non zero then VIO is working.
        Please refer to this document

        Regards,
        Mohammed Naveed

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        • K
          Karl_Wright
          last edited by

          Hi @mohammednaveed, thanks for your response! The VIO is working properly and sends data to the mavlink inspector.

          The main issue I'm having is that the drone won't arm because of a gps error. Other than that, everything else seems to be working correctly. Any advice on troubleshooting the gps error would be greatly appreciated.

          Thanks,

          Karl

          G 1 Reply Last reply Reply Quote 0
          • G
            Gordon8 @Karl_Wright
            last edited by

            @Karl_Wright

            You have:
            helpers --> m500 --> collision_prevention, ekf2_indoor_vio, and enable_uart_esc

            Try adding in:
            sensors_disable_gps_mag.params

            "Turns off GPS and barometer. Use this is you have no gps/mag attached or have a gps/mag attached and just want them disabled in software. Use this with ekf2_indoor_vio.params
            This is not included with ekf2_indoo_vio.params since you may still want these sensors enabled for logging even when not using in EKF2."

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            • K
              Karl_Wright
              last edited by

              Hello @Gordon8,

              Thanks so much for your advice. I reset all the parameters in QGC and reloaded ekf2_indoor_vio and sensors_disable_gps_mag.

              I am unfortunately still running into the same issue as before. Arming is denied because of a generic gps error. I have disabled gps and edited other parameters that are supposed to allow arming without gps.

              Thanks again @Gordon8 for your response, I'm open to trying any other suggestions that you or others may have.

              Karl

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              • K
                Karl_Wright
                last edited by

                After much more time trying to troubleshoot this issue, I am still unable to arm my drone. QGC shows that everything is operating correctly except that there are failures for GPS and Pre-Arm Check. Does anyone else have any suggestions on other procedures I could try? My current software setup is the same that I have described above.

                Thanks!

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                • Chad SweetC
                  Chad Sweet Dev Team
                  last edited by

                  How did you update your firmware? Did you use a ModalAI image or QGC?

                  Check out https://docs.modalai.com/flight-core-firmware/ and try starting with the latest on that page.

                  K 1 Reply Last reply Reply Quote 0
                  • K
                    Karl_Wright @Chad Sweet
                    last edited by Karl_Wright

                    @Chad-Sweet Thanks for your reply.

                    I am currently running firmware FCv1 - v1.11.3-0.2.3 from that link. I downloaded the image and then uploaded it through QGC as a custom firmware.

                    Thanks,

                    Karl

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