Open edlang90 opened 5 months ago
You need a magnetometer for POSHOLD even with Opt Flow.
You need a magnetometer for POSHOLD even with Opt Flow.
Can you tell me why that is? I am using MTF-01 on an Eachine Tyro69 quadcopter with MATEKF411 board with only an accelerometer (MPU600) and no other sensor on the board. I have the same issue. In principal optical flow sensor that I use can measure the changes in heading and the changes in altitude. Just like a set of GPS and compass sensor would do. Is there a way I can use poshold with my setup?
Current Behavior
I'm trying to set up Optical Flow sensor (Matek OpFlow module) in a GepRC F722 AIO (no baro, no mag, no GPS). The only way I can get PosHold and AltHold modes to appear is if I configure a fake gps port, but this means I need to bypass arming safeties every time I want to fly.
Steps to Reproduce
Expected behavior
Be able to enable position hold when an OPFlow module with rangefinder is configured, since it is able to give a position and altitude setting
Suggested solution(s)
Not sure but perhaps be able to dynamically decide if position is coming from GPS or OpFlow + rangefinder modules and allow either as a valid 3D position source?
Additional context
diff all
version
INAV/GEPRC_F722_AIO 7.0.0 Mar 28 2024 / 20:06:38 (GITDIR-N)
GCC-10.3.1 20210824 (release)
start the command batch
batch start
reset configuration to default settings
defaults noreboot
resources
Timer overrides
Outputs [servo]
safehome
features
feature PWM_OUTPUT_ENABLE
beeper
blackbox
blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox -GYRO_RAW blackbox -PEAKS_R blackbox -PEAKS_P blackbox -PEAKS_Y
Receiver: Channel map
Ports
serial 0 2097152 115200 115200 0 115200 serial 4 1 115200 115200 0 115200
LEDs
LED color
LED mode_color
Modes [aux]
aux 0 0 0 1700 2100 aux 1 1 1 1300 2100 aux 2 11 1 1700 2100 aux 3 3 1 1700 2100 aux 4 5 1 1700 2100 aux 5 52 3 1700 2100 aux 6 38 3 900 1300 aux 7 47 2 1700 2100
Adjustments [adjrange]
Receiver rxrange
temp_sensor
Mission Control Waypoints [wp]
wp 0 invalid
OSD [osd_layout]
Programming: logic
Programming: global variables
Programming: PID controllers
master
set looptime = 500 set gyro_main_lpf_hz = 90 set gyro_main_lpf_type = PT1 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 70 set setpoint_kalman_q = 200 set gyro_zero_x = -6 set gyro_zero_y = 2 set gyro_zero_z = 2 set ins_gravity_cmss = 976.199 set acc_hardware = ICM42605 set acczero_x = 16 set acczero_y = -55 set acczero_z = 42 set accgain_x = 4320 set accgain_y = 3845 set rangefinder_hardware = MSP set opflow_hardware = MSP set opflow_scale = 8.621 set align_mag = CW270FLIP set mag_hardware = NONE set baro_hardware = NONE set serialrx_provider = CRSF set blackbox_rate_denom = 2 set motor_pwm_protocol = DSHOT300 set motor_poles = 12 set failsafe_procedure = DROP set align_board_roll = 1800 set align_board_yaw = 450 set applied_defaults = 6 set airmode_type = THROTTLE_THRESHOLD set inav_use_gps_no_baro = ON set inav_allow_dead_reckoning = ON set nav_user_control_mode = CRUISE set debug_mode = FLOW_RAW
mixer_profile
mixer_profile 1
set motor_direction_inverted = ON set model_preview_type = 3
Mixer: motor mixer
mmix reset
mmix 0 1.000 1.000 1.000 1.000 mmix 1 1.000 1.000 -1.000 -1.000 mmix 2 1.000 -1.000 1.000 -1.000 mmix 3 1.000 -1.000 -1.000 1.000
Mixer: servo mixer
mixer_profile
mixer_profile 2
Mixer: motor mixer
Mixer: servo mixer
profile
profile 1
set mc_p_pitch = 32 set mc_i_pitch = 90 set mc_d_pitch = 25 set mc_p_roll = 28 set mc_i_roll = 80 set mc_p_yaw = 30 set mc_i_yaw = 80 set dterm_lpf_hz = 85 set dterm_lpf_type = PT3 set nav_mc_vel_z_p = 150 set nav_mc_vel_z_i = 250 set nav_mc_vel_z_d = 25 set nav_mc_pos_xy_p = 80 set nav_mc_vel_xy_p = 50 set nav_mc_vel_xy_i = 40 set nav_mc_vel_xy_d = 60 set d_boost_min = 1.000 set d_boost_max = 1.000 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 75 set rc_yaw_expo = 75 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60
profile
profile 2
profile
profile 3
battery_profile
battery_profile 1
set throttle_idle = 5.000
battery_profile
battery_profile 2
battery_profile
battery_profile 3
restore original profile selection
mixer_profile 1 profile 1 battery_profile 1
save configuration
save