Autonomous Flight Indoors with Pixhawk 2.4.8

ArduCopter
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1

Hi all. I am using a quadcopter equipped with a Pixhawk 2.4.8, and I am attempting autonomous flight in an indoor environment where GPS signals are weak.
Specifically, I want to achieve the following movements:

・Automatically take off to an altitude of 1 meter from the ground
・Maintain the altitude of 1 meter while moving forward by 50 cm

What methods can be used to achieve these movements?

I am a beginner, so I apologize if this is a vague question.
Any hints or suggestions would be greatly appreciated.

Thanks!

1 Like
2

https://ardupilot.org/copter/docs/common-non-gps-navigation-landing-page.html

3

The Matek Optical flow module should work for that indoor low altitude use case.

4

Thank you for your response!
To achieve autonomous flight without GPS using these methods, could you please advise on what I should start with first?
Any hints on sample scripts or configuration methods would be greatly appreciated.
I look forward to your guidance.

5

Thank you!
I am considering flying a drone in an environment with obstacles. Would the Matek Optical Flow work in such conditions?
I am also interested in using the Intel RealSense T265. Any advice would be greatly appreciated.

6

Configure the vehicle outdoors and without optical flow correctly first

Once that is done, an only then, start indoor flight tests.

8

Can you look at my problem，thank

9

I’m using light flow, but I can’t maintain altitude

10

I already told you what to do. Untuned vehicles can not hold their position.

11

Thank you very much!

13

My problem seems to be a little different, I have tried it on four drones, it only appears when I connect optical flow to turn off surftrak-mode, I just want the drone to not be affected by the height of the objects below

14

Think about it, the optical flow and lidar do not (and can not) know the difference between object and ground.

15

I know, I didn’t choose to follow the ground, I set surftmark_mode =0 without using height compensation; But after takeoff in althod or poshold mode, I can’t roll or pitch slowly because the height of the drone will land slowly to the ground, this will not happen if I don’t use optical flow, the altitude of althold and poshold is very stable, I want to know that this is normal?

16

You should not use “poshold”, you should use “loiter” instead.

17

Just tested, loiter mode will also lose altitude

18

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The height of the actual drone is almost close to the ground, but the actual height of the ekf is still about 3 meters

19

What are the vibration levels, is the barometer exposed to prop wash?

20

No, I tested the F330 with the cushioned seat