I’m new here and I hepe to do things correctly. I’m trying to run a SITL in guided mode in GPS denied conditions of a copter, but at the end of all i always notice the error
FCU: PreArm: Need 3D Fix and it doesn’t allow me to arm motors.
Just one consideration: I know that is unsafety relying only on IMU to get the state of a drone, but this has to be ssen only in the contest of a simulation and later there will be the integration of sensors to get robustness.
I’ve set the parameters in order to disable also the GPS and pre-arm checks:
## FRAME FRAME_CLASS 1 FRAME_TYPE 1 ## EKF AHRS_EKF_TYPE 2 EK2_ENABLE 1 EK3_ENABLE 0 ## GPS GPS_TYPE 0 EK2_GPS_TYPE 3 VISO_TYPE 0 COMPASS_USE 1 AHRS_GPS_USE 0 ## Arming ARMING_CHECK 0 ARMING_REQUIRE 0 ## SIM SIM_GPS_DISABLE 1 SIM_GPS_TYPE 0
About these parameters I have 2 doubts. The first is that
ARMING_REQUIRE does not exist (even if it is present in the full parameter list). The second is that it’s not clear the difference beetween SIM_GPS_DISABLE and GPS_TYPE.
Anyway after making sitl starting (
sim_vehicle.py -v ArduCopter --console --map) and also mavros, I changed in guided mode and finally set Home (with height) and Origin (with height) on MAVProxy map.
I post here the log of mavros on terminal: mavros_log.txt (14.6 KB)
I guess I’m missing something foundamental but i’m not sure what.