Hello,
I’m working on a small quad designed for indoors use, no GPS, 1MB flash (can’t run Lua Scripts). However the quad has an Optical Flow sensor with rangefinder mounted.
I would like to have the drone take-off automatically but the issue is that I have to set the EKF origin before arming.
I understand that it is possible to set it with Mavlink using the SET_GPS_GLOBAL_ORIGIN message. I tried with Mavproxy and it works but I don’t want to do this manually every time.
I have an auxiliary MCU on the quad which has a Mavlink connection to the FC. Is it possible to have this MCU send the SET_GPS_GLOBAL_ORIGIN message to the FC and set the EKF origin at start-up?
Yes, of Course that is possible. That MCU just needs to talk MAVLink
Hello, thanks, on my initial trial it didn’t work but now I figured it out. It seems that I must set the component id of the message as MAV_COMP_ID_MISSIONPLANNER for it to work.
Also, in the documentation it’s said that I have to set EK3_SRC1_VELXY to 0. I did not do that since I want my optical flow sensor to be used by ekf and I’m still able to set the origin. Am I getting something wrong or does the doc need an update?