Issue with Arming Quadcopter Indoors

ArduCopter
1

Hello,

I’ve been attempting to operate my drone indoors and have applied the recommended indoor parameters. However, I’m unable to arm the quadcopter. Is there any additional setting I need to adjust?

Thank you.

2

What hardware do you use to aid navigation without GPS?
Which mode are you using?

3

We can not tell you what additional setting to set if you do not provide us with information about the ones that you did set.
Only then can you tell you about additional ones.

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4

I am trying to use computer vision on a IMX219-83 camera to avoid obstacles with a couple of ultrasonic sensors and the mode that I am using is loiter.

Thank you for your time.

5

Sorry, you are right.

The options that I changed are:
[AHRS_GPS_USE] = 0
BATT_FS_LOW_ACT = LAND
FS_THR_ENABLE = 3
FENCE_ENABLE = 0

Thank you for your time.

6

You can’t fly indoors in a gps mode, if you don’t feed some sort of position data into the ekf.

So some indoor tracking system is necessary.

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7

An aruco marker could be enough? Or should I implement a more complex system like beacons?

8

Hi again,

I’ve been testing the Stabilize mode with GPS connected because, without it, I can’t avoid the “Compass not healthy” message.

I have a couple of questions:

  1. Should I set the EFK origin and home during initialization?
  2. I’m trying to use ROS2 to send computer vision data to the UAV and, via MAVLink, command the drone to move up or down. The project is focused on obstacle avoidance while maintaining a straight line. However, I’m encountering build issues. The package builds successfully, but when I try to execute it, nothing happens. I haven’t found a solution yet.

Is there another way to address this? I’m considering running the computer vision on the RPI5 (separate from ROS2) and using ROS solely for messaging. What do you think? Any advice?

Thank you for your time!

9

You need something to give the drone an idea about its position. I think it should be possible to calculate the position in relation to the aruco marker.

And yes, you need to set the EKF origin and home during initialization.

With ROS I have no clue, never really used it.

1 Like
10

Okay, thank you so much!
I will explore the aruco idea and Visual Inertial Odometry too.