VIO and GPS in position mode

tahawaru

Hello,

We are testing the Rb5 outdoor in position mode.
We have the GPS coordinates but the drone keeps drifting.
Questions:

Why is it drifting?
is the drone using only VIO, or GPS, or both when flying in position mode?
How can we use GPS and VIO in position mode?

Notes: We have flashed the drone. What are the parameters needing to be set again?

Best wishes,

Moderator

@tahawaru Here is some documentation on configuring VIO https://docs.modalai.com/flying-with-vio/

PX4 does not currently handle GPS and VIO concurrently. It is something that we have worked with the PX4 developers on for more than 2 years.

It's a complicated problem though that we keep working to improve. To start experimenting, and hopefully helping to develop that feature, read through PX4's documentation on EKF2.

To debug VIO, look to this area of the documentation specifically https://docs.modalai.com/flying-with-vio/#troubleshooting-vio