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:
- Is it safe to fly with EFK enabled indoors (stab, alt hold)?
- Are there any special parameters I should be modifying?
- Any specific considerations? Safety is the priority.
I’m flying a quad with a Pixhawk running AC 3.2 release.
Thanks in advanced!
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.
Thank you bill! Will AltHold be ok? that’s the mode I would use heavily in this instance…
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?
thanks - is Alt Hold OK to use? or only stabilize?
I’ve put together a wiki page to help with flying indoors here copter.ardupilot.com/wiki/indoor-flying/
Hope that helps
[quote=“billbonney”]I’ve put together a wiki page to help with flying indoors here copter.ardupilot.com/wiki/indoor-flying/
Hope that helps [/quote]
great stuff - thank you!