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

params/v1.14/EKF2_helpers/outdoor_gps_baro.params · master · voxl / VOXL SDK / Utilities / voxl-px4-params · GitLab

PX4 parameter files for use on VOXL2 and Flight Core

GitLab (gitlab.com)

params/v1.14/platforms/Sentinel_V1.params · master · voxl / VOXL SDK / Utilities / voxl-px4-params · GitLab

PX4 parameter files for use on VOXL2 and Flight Core

GitLab (gitlab.com)

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