Use lidar for localization instead of Qvio
-
About using another state estimation source, we would like to replace the onboard qvio with some lidar based odometry for localization and position hold purpose. Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else?
Please advise! -
About using another state estimation source, we would like to replace the onboard qvio with some lidar based odometry for localization and position hold purpose. Say we can get lidar-based position estimate in ROS message, can we disable the onboard VIO and feed our position estimate to the onboard flight controller through MAVROS or something else?
Please advise!@Muqing-Cao Yes, definitely. The applications are auto started using systemd services and can be stopped / disabled using standard commands as desired.
-
@Muqing-Cao Yes, definitely. The applications are auto started using systemd services and can be stopped / disabled using standard commands as desired.
@Eric-Katzfey Thanks for your reply. Can we have more details about the interface we could use to feed position estimate?
-
@Eric-Katzfey Thanks for your reply. Can we have more details about the interface we could use to feed position estimate?
@Muqing-Cao Just the standard Mavlink ODOMETRY message is what we have used. Not exactly sure how that translates into ROS land. But it isn't anything ModalAI specific.
-
@Muqing-Cao Just the standard Mavlink ODOMETRY message is what we have used. Not exactly sure how that translates into ROS land. But it isn't anything ModalAI specific.
@Eric-Katzfey Thank you. Could you lead me to the part of the code that sends the odometry mavlink msg in voxl sdk? That would be very helpful.
-
@Eric-Katzfey Thank you. Could you lead me to the part of the code that sends the odometry mavlink msg in voxl sdk? That would be very helpful.
Reading along? Create a free ModalAI Forum account to join in.
With an account you can reply, ask your own question, get an email when a ModalAI engineer answers, and mark the reply that solved it. Your place in each thread is saved between visits.
Questions about VOXL, Flight Core, ESCs and ModalAI drones are answered here by the engineers who build them.
Register Login