Topics created by MJ

I'm not sure if you still have this problem, but if you know ROS, you can stream the cameras on your computer by configuring the drone to have the ROS master on your computer. First follow the steps at this link to setup ROS on RB5. https://docs.modalai.com/setup-ros-on-voxl-2/

Then you can set the ROS master to be on your computer by opening ~/.bashrc on the RB5 drone, and entering these lines in the file:

export ROS_MASTER_URI=http://{PC_IP_ADDRESS}:11311/ export ROS_HOSTNAME={RB5_DRONE_IP}

PC_IP_ADDRESS can be obtained from ipconfig on your computer. RB5_DRONE_IP is the one you use to ssh into it.
Then on the drone:

source ~/.bashrc

On your computer execute:

roscore Rviz

On the drone execute:

roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch

You will then be able to view the camera display topics from voxl_mpa_to_ros on your computer. You can stream them on Rviz, and you can create ROS nodes to subscribe to these topics for whatever computer vision application you develop. Hope this helps.

@RichieRich
GPS unit is mounted by default (as it comes with RB5 5G drone), mast is locked in vertical postion.
Turning EKF2_REQ_SACC to 0,75 provided no errors from GPS.
Obstacle avoidance was also disabled, so we managed to fly.

But I'm still a bit confused why the obstacle avoidance gives error, since the drone was placed on the ground (concrete pavement), no obstacles within few meters, while the minimum distance was set to only 1 m. But this is current setup that works:
0de5d598-3401-4512-9e7b-3ef8202ef635-image.png

Many thanks for your help. We'll try to figure this out and provide info in a few days.