connecting Voxl cam and pixhawk cube
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hey,
I want to use voxl cam with a external flight controller like pixhawk cube via TELEM2 , I have configured EKF2 parameters (EKF2_AID_MASK=280 and EKF2_HGT_MODE=3) for VIO and have verified MAV_1_CONFIG and other things, I do get Odometry values .But when I switch to HITL , Odometry disappears and also ekf2 status return invalid local position. Do you think it is a firmware issue? what could be wrong?
Is it a good idea to connect external px4?
Thanks -
hey,
I want to use voxl cam with a external flight controller like pixhawk cube via TELEM2 , I have configured EKF2 parameters (EKF2_AID_MASK=280 and EKF2_HGT_MODE=3) for VIO and have verified MAV_1_CONFIG and other things, I do get Odometry values .But when I switch to HITL , Odometry disappears and also ekf2 status return invalid local position. Do you think it is a firmware issue? what could be wrong?
Is it a good idea to connect external px4?
Thanks@keil In HITL you would want odometry to be coming from the simulation. What simulator are you using?
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@keil In HITL you would want odometry to be coming from the simulation. What simulator are you using?
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@Eric-Katzfey I am using gazebo
@keil Okay, gazebo can support odometry. But you will need to configure it properly to do so.
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@keil Okay, gazebo can support odometry. But you will need to configure it properly to do so.
@Eric-Katzfey okay can you please provide any reference for that ? Would be really helpful, meanwhile I will also try to search
Thank you -
@keil odomotry should be out the box via gazebo. A minor edit needs to be changed inside PX4-Autopilot. Please do the following:
- Move into the
PX4-Autopilot/Tools/sitl_gazebo/models/iris_visiondirectory and edit the following file:iris_vision.sdf - Within this file change the following line:
<uri>model://iris</uri>TO<uri>model://iris_hitl</uri> - Once this edit has been made, run the following:
make px4_sitl_default gazebo_iris_vision
That will build a gazebo environment with a hitl iris that leverages vision to run VIO - AKA this will return odometry data.
- Move into the
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@keil odomotry should be out the box via gazebo. A minor edit needs to be changed inside PX4-Autopilot. Please do the following:
- Move into the
PX4-Autopilot/Tools/sitl_gazebo/models/iris_visiondirectory and edit the following file:iris_vision.sdf - Within this file change the following line:
<uri>model://iris</uri>TO<uri>model://iris_hitl</uri> - Once this edit has been made, run the following:
make px4_sitl_default gazebo_iris_vision
That will build a gazebo environment with a hitl iris that leverages vision to run VIO - AKA this will return odometry data.
@Zachary-Lowell thanks a lot, will surely try
- Move into the
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