Ardupilot Rover Movement without GPS

ArduRover Rover 4.1
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1

I’m trying to move position the rover without GPS using Raspberry-Pi. It’s supposed to follow a red marker by using the camera to detect a target from which the position can be determined.

I want to implement it indoors where GPS is not available. I am trying to use set_position_target_local_ned_encode on vehicle.message_factory to implement movement. However, it does not work.

Questions:

  1. Does set_position_target_local_ned_encode only work on effective GPS readings and not on situations where Mission Planner sometime say GPS: NoFix
  2. Are there any alternatives to implement rover movement without being GPS dependent?

Thanks

2

ArduPilot needs a sensor source for position and velocity information. Normally that is GPS, but other sensors can be used - see Non-GPS Navigation — Rover documentation

1 Like
3

I can see here that a camera is used. But is it possible to use OpenCV and R-Pi’s camera as substitute for the camera used in here?

4

Monocular SLAM algorithms may work here, but you likely need to write your own software to take in the Pi Camera’s images and determine a position and velocity output to send to ArduPilot.

5

Hello, is it possible to send an RC signal from raspberry pi to pixhawk via mavlink? I want to try implementing rover movement using this RC signal