No Odometry in QGC through MAVLink

SMRazaRizvi

Problem: My Sentinel drone with VOXL SDK 1.0, drifts when I take off. It drifts a lot when I take off in Manual mode, and when I take off in Position mode, it drifts with a blow of wind.

One of the problems I noticed is that I cannot see Odometry messages inside the MAVLink Inspector, and the frequency of LOCAL_POSITION_NED is also 1.0 Hz.
How can I enable Odometry and also increase the frequency of LOCAL_POSITION_NED ?

SMRazaRizvi

@SMRazaRizvi @Moderator ?

Jetson Nano

@SMRazaRizvi Make sure your vio is running, and there are certain parameters that needs to be enabled in QGC for it to hold position, check whether you have done it

SMRazaRizvi

@Jetson-Nano Can you please mention those parameters here, and their correct values?

Jetson Nano

@SMRazaRizvi Sorry for the delayed response

for PX4 version 1.14 the paramters are https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/indoor_vio.params

for PX4 version 1.12 the paramters are https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.12/ekf2_indoor_vio.params

SMRazaRizvi

@Jetson-Nano
Thank you for your response.

But these are the parameters for indoor, I am testing outdoors.

I tried

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/outdoor_gps_baro.params

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/platforms/Sentinel_V1.params

But still same issue.

Jetson Nano

@SMRazaRizvi You have to setup GPS and make EKF Aid mask use GPS, and I don't think using GPS will give you odometry data, you might get some sort of global position which helps you hold position and navigate