SPECIFICATION:
- 3DR IRIS+
- ArduCopter 3.3.2 (Firmware Upgraded)
- DroneKit (2.0.2)
- MAVProxy (1.4.38)
- pymavlink (1.1.66)
- APM Planner 2.0.18 for Mac OS X
Hello, Pilots
I am looking a solution or an insight for flying my 3DR IRIS+ INDOOR.
My goal is to maneuver IRIS+ with Python function calls using DroneKit
Using keyboard, I would like to mimic RC Controller.
And eventually, these function calls are going to be used to control IRIS+ in X-Y-Z degrees,
based on decisions made by a module,
such as vision-based target following module.
Due to circumstantial issue,
I need to be able to take-off (up to about a 1~2 meters) maneuver all X-Y-Z axis and land,
inside a high ceiling room, but without enough GPS signal.
I’ve followed a few official documents:
Indoor Flying Guidelines: copter.ardupilot.com/wiki/indoor-flying/
Pre-Arm Safety Check: copter.ardupilot.com/wiki/prearm_safety_check
Guiding and Controlling Copter: python.dronekit.io/guide/copter/guided_mode.html
However, I couldn’t get enought help.
I upgraded PIXHAWK Firmware to APM:Copter 3.3.2
From “Guiding and Controlling Copter”, using MAV_FRAME_BODY_OFFSET_NED seems to be helpful for controlling IRIS+ dynamically.
But because this frame is available for only APM:Copter 3.3.2, I had to upgrade.
Since upgrading, IRIS+ became more sensitive about PreArm Checking.
Also, when it’s armed, the rotor are not rotating like before.
I have to increase throttle speed from RC to see the drone taking-off.
However, since my project is to develop a program to operate the drone,
using RC shouldn’t be considered for any reason.
Please help me to find a good solution to use IRIS+ using DroneKit programming more effectively,
even being indoor circumstance.
Thank you.