connecting Voxl cam and pixhawk cube

[howard]

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

[Eric Katzfey]

@keil In HITL you would want odometry to be coming from the simulation. What simulator are you using?

[howard]

@Eric-Katzfey I am using gazebo

[Eric Katzfey]

@keil Okay, gazebo can support odometry. But you will need to configure it properly to do so.

[howard]

@Eric-Katzfey okay can you please provide any reference for that ? Would be really helpful, meanwhile I will also try to search
Thank you

[Zachary Lowell]

@keil odomotry should be out the box via gazebo. A minor edit needs to be changed inside PX4-Autopilot. Please do the following:

1. Move into the PX4-Autopilot/Tools/sitl_gazebo/models/iris_vision directory and edit the following file: iris_vision.sdf
2. Within this file change the following line: <uri>model://iris</uri> TO <uri>model://iris_hitl</uri>
3. 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.

[howard]

@Zachary-Lowell thanks a lot, will surely try

[howard]

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