@Zachary-Lowell-0 after turning off open-vins and rebooting it works. thanks!

@zauberflote1 it's 1.5.1

@Eric-Katzfey any idea how to resolve this? we need to get the position mode flying soon. thanks.

@Eric-Katzfey
en_vio is set to true

we have got a starling 2 max and enabled the qvio service. In GUI the qvio outputs good odometry:

However, in px4 mavlink list, we cannot find the odometry mavlink message. And the local position estimate gives very high velocity even when the drone is static:

This is the list of qvio services running:

@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 Thanks for your reply. Can we have more details about the interface we could use to feed position estimate?

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 said in Integrating lidar sensor:

About using another state estimation source, can you suggest me how to do that? 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.

Please help advise on this question, thanks

@tom Thanks. I will get one of that.
About using another state estimation source, can you suggest me how to do that? 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.