Guided mode with optical flow, without GPS, in simulation

ArduCopter Copter 4.0
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6

I got it working in the end. My problem was that the EKF needs a position, even if we are only using relative movement commands. This can be solved by manually setting the position using e.g.

  • the map in mavproxy.
  • something like this script
  • mavros and the topic /mavros/global_position/set_gp_origin

I used mavros, and have not tested the others.

In the end, I ended up using EKF2, and the parameters i had worked.

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