i want to do an indoor test flight with my hexa-fixed wing. It is using arduplane setup with q_enable turned on.
I am using a vision camera and a tag for indoor position, and sending vision_position_estimate message to the ardupilot.
I turned GPS off, but i got error as below after setting the EKF origin
EKF3 IMU0 origin set
EKF3 IMU1 origin set
PreArm: AHRS: waiting for home
PreArm: AHRS: not using configured AHRS type
I tried q_copter in sitl, it does not give me such error and the position and vel was able to initialize.
I also tried with GPS turning on to see whether vision data is reflected or not. I see the altitude agrees with the vision data for a while and goes off and loop. And I already set EK3_SRC1_PosZ to 6 and others to 0.
Does anyone ever succeed to use vision data in indoor flight in arduplane setup with GPS turned off?
Thank you.