Hello all I was hoping to get some project direction advice for my quadcopter GitHub project: autonomous-drone.
My setup:
Raspberry Pi 4B
Oak-D Lite camera
SpeedyBee ESC
CUAV V5 Nano flight controller (ArduCopter v4)
So far I have been able to run DroneKit with Python to control the motors but Ardupilot complains with
“PreArm: EKF attitude is bad”
since I don’t have a GPS and need to provide pose info via the Oak-D Lite with SLAM. Luxonis (Oak-D) provides the following SLAM support which states on-board SLAM is not yet supported so I assume I need to run SLAM on my Pi. I have seen this post which is similar to my scenario slam-with-oak-d-s2-raspberry-pi-4-and-pixhawk-4 but I want to make sure my approach is correct before I dive in.
My end goal is to run SLAM from the Oak camera to navigate my living room. I have seen really great tools such as VINS, VIO, and SLAM and wanted to know if someone could point me in the right direction to get SLAM (or another suggestion) working on my setup.
I am open to criticism 