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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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No inertial speed in MAVlink flow #4218

Open night-ghost opened 8 years ago

night-ghost commented 8 years ago

Issue details

There is no inertial speed in MAVlink flow, so in GPS-less setups a lots of speeds always ==0. There is inertial_nav.get_velocity_xy() function that used internally in 2 places but not for MAVlink.

I understand that this speed is very inaccurate, but it is better this than nothing. So when gps_fix_type==0 (that means no GPS) airspeed and groundspeed in MAVlink should be set to inertial_nav.get_velocity_xy() normalized to the right units.

PS. Yes, for me too, the existence and popularity of such setups was a surprise, but a few people with 120-250 size copters complained that in the absence of GPS OSD does not display neither height nor speed.

Platform

[ x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover

peterbarker commented 3 years ago

@Hwurzburg do you know if we get this data in OSDs now?

Hwurzburg commented 3 years ago

no, sorry....dont fly multi without GPS...guess you can now without GPS OR BARO.... guess we would have to modify the calls instead of using ahrs.groundspeed_vector() and ahrs.get_relative_position_D_home(alt) inertial nav has got to be really flaky without GPS/BARO, especially on a small quad going all over the place...no?