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nayan-dev / nayan-devguide

Nayan Development Guide
https://nayan-dev.gitbooks.io/nayan-devguide/
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Using Px4Flow Sensor Instead of GPS #2

Open madhubabuv opened 7 years ago

madhubabuv commented 7 years ago

The drone is given with a px4flow sensor, I read in web that people use optical flow data instead of gps to make the drone fly indoor and out door.

How I can achieve that with this drone and What are all the steps I need to do for that ?

Please help me in this regard

Thank you in advance.

bugobliterator commented 7 years ago

Nayan is provided with px4flow sensor and is by default connected to onboard computer, where one can write there own code in conjunction with Stereo Camera data processing to estimate linear velocities and position and transfer that to PX4 Flight stack and ensure its fusion into the position estimator https://dev.px4.io/external-position.html . Other way is to directly connect PX4Flow sensor to flight boards via I2C line (Cable and connectors can be provided for the same by AUS on request). While connecting directly via I2C line legacy px4flow code on uC will be running, it should be noted that positioning based on just Flow sensor is prone to heavy drifting if not tuned properly as you are only able to estimate velocity at any stage. Lighting conditions and ground texture also affect the performance heavily. Warning: While test flying with Optical flow indoors/outdoors you must not takeoff from ground directly in PosCtl until you have confirmed its working in flight. Best way would be taking off in manual mode and collecting logs, study the sanity of position data and then iterate until you reach sane data.

madhubabuv commented 7 years ago

thank you @bugobliterator for the reply. you please share codes or documents if have done anything regarding the usage of px4flow sensor and the external position calculation using the MLC200wg cameras. That helps me a lot for my research.

Thank you.