AC 3.2 + EKF & Flying indoors

ArduCopter Copter 3.2
1

Hi Everyone!

I’ve been tasked with shooting some video indoors. Through the 3.2 beta thread I remember there being a few mentions that GPS data is used when EKF is enabled even when not in GPS modes.

I would really appreciate some input, clarification & best practices when flying indoors (other than not having failsafe set to RTL ;p). Mainly:

  1. Is it safe to fly with EFK enabled indoors (stab, alt hold)?
  2. Are there any special parameters I should be modifying?
  3. Any specific considerations? Safety is the priority.

I’m flying a quad with a Pixhawk running AC 3.2 release.
Thanks in advanced!
Raph

2

You can use AHRS_GPS_ENABLE to disable GPS use, and make sure GPS failsafe is also disabled. If you then use stab only you should be ok.

3

Thank you bill! Will AltHold be ok? that’s the mode I would use heavily in this instance…

4

I dont’ see “AHRS_GPS_ENABLE” in the full parameter list. only “AHRS_GPS_USE” :
This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won’t be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight.

is this correct? or should i just disable EKF?

5

Sorry. I meant USE.

6

thanks - is Alt Hold OK to use? or only stabilize?

7

I’ve put together a wiki page to help with flying indoors here copter.ardupilot.com/wiki/indoor-flying/
Hope that helps :slight_smile:

8

[quote=“billbonney”]I’ve put together a wiki page to help with flying indoors here copter.ardupilot.com/wiki/indoor-flying/
Hope that helps :slight_smile:[/quote]

great stuff - thank you!