I want to simulate visual odometry system in sitl with plane. I fly in auto mode, I change ekf source to external ekf and disable the gps in flight params. before doing that I send vision_position_estimate messages in mavlink with some python script. So my expectation is when I change params, my external nav params going in ekf3 and gps coordinates act like in my vision_position_estimate message. But when I change the ekf and gps enable params, plane going somewhere in asia and then act like in my command. I believe that occurs because of my initial ned coordinate doesnt start with 0,0,0. When I change ekf and gps params I saw ekf3 initial pos ned = 0.7 0.7 0.7 or some random variables in message section. any info about that would be great.
thanks
Hello,
AFAIK , Vision_Position has not been implemented in plane…
I want to handle myself. Do you have any suggestions ?
VisualOdomotry is not vehicle specific, so should work in all vehicle types. It used to be tied to copter, but was moved to AP_Vehicle in April 2020 by Randy
@DollyTheSheep it should work the same way in plane as copter, with the same EK3_SRC and VISO_TYPE parameters.
Thanks @tridge
I cannot find any references on implementing this on a plane, I am curious how it would work in real life.
I guess the most difficult part is to get a Visual Odometry system that can work on a plane?
yes, the PR I did today for the ModalAI VOXL system is promising I think. I’m wondering if I can somehow attach it to one of my planes
There is also the EQF VIO that I’m working on with ANU (see the talk at the dev conference this year)
That’s really interesting, are you using the VOXL Fly Deck or a stripped down system ?
I’m using the m500 pre-built vehicle:
I didn’t need any calibration, just the sw changes in the PR, and it works very nicely