Hi,
I have two drones in Gazebo simulation, and I want to turn GPS off on the second one to get location from the first one.
I’ve already set this in Gazebo world file to get navsat plugin for first drone only. (I’m not sure it is working though)
<plugin filename="gz-sim-navsat-system" name="gz::sim::systems::NavSat">
<entity>name_of_the_first_drone</entity>
</plugin>
I’ve also set these parameters:
SIM_GPS_TYPE = 0
SIM_GPS_DISABLE = 1
SIM_GPS1_ENABLE = 0
SIM_GPS2_ENABLE = 0
SIM_GPS3_ENABLE = 0
AHRS_GPS_USE = 0
GPS_AUTO_CONFIG = 0
So far, the preflight check shows
AP: PreArm: GPS 1: Bad fix
which probably means that GPS is off. However, when I turn off the check and take off, I can see this via status
command:
662: GLOBAL_POSITION_INT {time_boot_ms : 191175, lat : -353632531, lon : 1491652484, alt : 583990, relative_alt : 0, vx : 0, vy : 0, vz : 0, hdg : 8999}
2: GPS_GLOBAL_ORIGIN {latitude : -353632621, longitude : 1491652374, altitude : 584000, time_usec : 39061000}
662: GPS_RAW_INT {time_usec : 0, fix_type : 1, lat : -353632531, lon : 1491652484, alt : 583990, eph : 121, epv : 200, vel : 0, cog : 23101, satellites_visible : 3, alt_ellipsoid : 583990, h_acc : 300, v_acc : 300, vel_acc : 0, hdg_acc : 0, yaw : 0}
193: HEARTBEAT {type : 2, autopilot : 3, base_mode : 81, custom_mode : 0, system_status : 3, mavlink_version : 3}
which probably means, that GPS data still flow (and changes during flight). Also, I’m seeing this during preflight:
AP: GPS 1: probing for u-blox at 230400 baud
AP: GPS 1: detected u-blox
Also, there is a difference between Guided
and Guided_NoGPS
modes behavior. In Guided_NoGPS
it floats aside, as expected. In Guided
, with GPS presumably “turned off”, it doesn’t.
Overall, it makes me think I didn’t turn GPS off. What should I do?