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    Odometry message not displayed with VIO

    GPS-denied Navigation (VIO)
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    • J
      Jetson Nano
      last edited by Jetson Nano 7 Nov 2024, 14:00 7 Nov 2024, 13:56

      Hey @Alex-Kushleyev @Eric-Katzfey @tom

      I'm using a VOXL2 compute along with Flight Core V2 as external flight controller.

      PX4 version: v1.15.1 (Stable)

      The VOXL2 communicates with FC as mentioned in this documentation.

      For position hold I have set EV parameter using tracking camera fusing with a Optical Flow with Rangefinder onboard. I'm able to see the odometry message being shown in mavlink console on QGC. Also, I try streaming the message from VOXL2,

      mavlink stream -r 30 -s ODOMETRY -d /dev/ttyS1

      In voxl-vision-hub I have set the mode to figure_eight. But once, I switch to offboard mode from position mode the drone stays at the same place and does not perform figure 8.

      Once I ssh into VOXL2, and check for mavlink status, I get the LOCAL_POSITION_NED but not #331 ODOMETRY message. How can I get that message?

      Without that message I'm not sure if VIO inputs from tracking camera would be passed on to FC for fusion on switching to offboard mode of flight.

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