With optical flow, without GPS, can I switch to guided mode?

ArduCopter
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1

Hello!
Please let me ask basic questions!

Can I turn my quad with optical flow into guided mode indoors?

I have read this document.
http://ardupilot.org/copter/docs/ac2_guidedmode.html
http://ardupilot.org/copter/docs/common-non-gps-navigation.html#common-non-gps-navigation

I finally want to enter the target position or target velocity in the guide mode to my quad and let it fly indoors.

If I enter optical flow into EKF, I guess my quad will accept velocity targets in guided mode.

Is there only GUIDED_NOGPS mode to make my quad fly without GPS?

Any help will be appreciated. Thank you!
Kohei

2

Yes you can use guided mode BUT OF being a velocity estimator it is subject to drift and inaccuracy.

3

Thank you for your quick reply!

I immediately entered only optical flow into EKF 2.

Certainly velocity (VX, VY VZ) of my quad is presumed.
I lifted my quad and confirmed it!

However, the position estimate was still 0.
Integrate Velocity to get Position.
I estimate that position estimation is not performed because the velocity data obtained by optical flow is inaccurate than the velocity data obtained by GPS.

I want to ask now because I am not in an environment that can let my quad fly.

Is it possible to input the target velocity using “SET_POSITION_TARGET_LOCAL_NED” in order to move my quad in GUIDED mode?

Since I found this document, I would like to try it.
http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-local-ned

Thanks!

1 Like
4

You can right click on the Map on Mission planner and set home == Set EKF Home
The vehicle should appear on the map and if you ZOOM full you can validate dispjacement by moving Quadcopter around holding it in your hand

5

Thank you for your wonderful information!

I will set the origin of EKF to my quad.

Do I have to set the origin of EKF from Mission Planner before flying?

I only have a way to connect my PC and Pixhawk with a USB cable.

I should have purchased Telemetry Radio.
http://ardupilot.org/copter/docs/common-telemetry-landingpage.html

6

is the velocity (vx, vy, vz) obtained NED or FRD? if you are using OF