I have been trying to get navigation working in a GPS denied setting.
The optical flow sensor PX4flow works fine with a range finder (TFmini in my case), Loiter is quite stable.
But when I try to do missions, I feel like going into unchartered territory. The wiki does not seem to mention anything. I have found a few threads here which talk about it, but it hasn’t worked for me so far.
So here is what I tried. Using 3.5.5 and 3.6-dev I set disabled EK2 and enabled EK3:
I also turned off the GPS and set the range finder to be the main altitude source:
The parameter I am not sure of is EK3_GPS_TYPE. Apparently it needs to be set to 0 as described here, but I’m not sure if this still is the recommended setting.
Either way, I can’t get the copter to fly a mission. It will arm, but takeoff fails. If I fly loiter and switch to guided it will accept the mode, but then go to smart RTL.
Another thing I find interesting is that SITL behavior seems to be different then what I see in the drone… in the simulation I can’t even get the drone to arm with just the flow sensor, but that might be something different entirely.
Any suggestions are very welcome.