Copter without GPS AND Compass [re-ask]

ArduCopter
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1

I am aware that such a topic was asked before, but no guide or answer was given.

I have an optical flow (Hereflow) and a downward-facing lidar (LW/20C) installed drone, and it flies well indoors, locking its altitude and XY position when the pilot releases the RC sticks under Loiter flight mode indoors.

EK3_SRC2_POSXY,0  # None
EK3_SRC2_POSZ,2  # RangeFinder
EK3_SRC2_VELXY,5  # OpticalFlow
EK3_SRC2_VELZ,0  # None
EK3_SRC2_YAW,1  # Compass

Is there an easy way to fly the drone indoors, including WITHOUT a compass due to magnetic interference? Will the FlowHold flight mode work under this situation (disable the compass)? I am aware of compass-less operation, but it requires GPS.

2

What baro are you using? What flight controller are you using? Is it cube? The imu there shouldnt make strong magnetic interface to disrupt the overall functionality

3

CubeOrange with built-in baro. It is drifting in one of the indoor test locations. The EKF compass Status bar shows rising occasionally during flight.
We are also suspecting that the too uniform color floor is not ideal for the optical flow sensor; we are not certain. Both outdoor and one indoor test flights were perfect without any parameters change.

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image747×458 46.3 KB

4

It looks quite scary to proceed FlowHold test flight with these parameters. Even before arming, the EKF status is already “not happy”. I can arm the drone without the propeller; however, the arming motor spinning speed (sound) is abnormal. Currently, I am still using Arducopter 4.4.4.

COMPASS_USE,0
COMPASS_USE2,0
COMPASS_USE3,0
EK3_SRC2_POSXY,0  # None
EK3_SRC2_POSZ,2  # RangeFinder
EK3_SRC2_VELXY,5  # OpticalFlow
EK3_SRC2_VELZ,0  # None
EK3_SRC2_YAW,0  # None
FLTMODE6,22  # FlowHold

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image1221×1228 160 KB

5

Do not bother, it is not flyable.