Non gps stable drone

ArduCopter Copter 4.0
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1

Hello everyone,

I working in a project where i building a non gps autonomous drone and i want to perform a takeoff and hover and land without any drift it should hold it’s position

My setup is
Cube orange, jetson orion nano as a companion computer, px4 optical flow sensor, ardupilot latest firmware

First I tried with px4 optical flow sensor and write a mavlink script where I giving fake coordinates so i can use althold and some other modes but what i found is my drone can hold it’s position in althold mode but its not stable in ist position it is moving in a direction I calibrate several times but nothing is happened

Also tried to use loitter mode but its keep giving error that need position estimate i also setup the ekf origin but error keep coming

Now i want to use intel realsense d435i depth camera for my task by removing the flow sensor

My question is will using cam i can achieve the stable hover ?

And i gone through the wiki page for non gps navigation using different intel camera will that work for d435i?

Kindly guide me

2

@rmackay9
Please look upon this

3

Hi @KaranK369,

Are you really using 4.0 or perhaps this question has just been raised in the incorrect category?

It’s best to include a log file, as we often say, “it’s just guess work without a log file”

4

Our non-GPS navigation wiki pages are here.

In althold mode the pilot controls the lean angle so there really shouldn’t be any expectation that the vehicle will hold position even if an optical flow sensor is attached. I’m sorry but it’s written right at the top of the AltHold wiki page