Throw Mode in GPS denied environment

ArduCopter Copter 4.4
1

Good day,

I am working with a Cube Orange running Arducopter v4.4.4. I am trying to use throw mode in an indoor environment, without a GPS sensor attached. We have had success flying indoors using opti-flow sensors to override the GPS after taking off in Altitude hold then switching to Loiter mode, we are able to perform a stable flight.

We are transitioning to trying to use “throw” mode, but it requires a GPS to get into the secondary mode after it is thrown and “catches” itself.

Is it possible to disable the need for a gps in throw mode currently? I have looked into v4.6 but I did not see anything that would point me to upgrade to that version yet.

Any insight would be greatly appreciated. We are also using a downward facing lidar that can be used as a rangefinder.

2

Hello @BSTbuilder ,
could you solve your issue? One thought I had when reading your post is, you could use a fake gps. I assume you have some indoor navigation system, so why not fake gps messages with it?