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GWest4
Beginner
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Aero optical flow using down facing camera is not working

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Hi,

I have gone through various forums configuring my Aero drone to use optical flow, but can't get it to work.

I have connected the LeddarOne sensor.

I have:

  • set EKF2_AID_MASK to 2 (use optical flow)
  • SYS_MC_ESG_GROUP to 1 (ekf2)
  • SENS_EN_LEDDAR1 to 1
  • Downloaded, compiled and ran the aero-optical-flow package. It seems to work and detect movement
  • QGroundControl>Widgets>MAVLink Inspector>OPTICAL_FLOW_RAD>quality is well above 100 (unless I put my hand in front of the camera)
  • QGroundControl>Widgets>MAVLink Inspector>DISTANCE_SENSOR>current_distance show the heigth above ground

BIOS_VERSION = Aero-01.00.16

OS_VERSION = Ubuntu 16.04.5 LTS"

AIRMAP_VERSION = unknown

FPGA_VERSION = 0xc2

AeroFC firmware version = 1.8.0

Moving the drone above the surface has no influence on LOCAL_POSITION_NED. However OPTICAL_FLOW_RAD does seem to change.

Now in a previous post, someone from Intel (Jesus) provided a test PX4-firmware (named "aerofc-v1_default_leddar_one.px4"), which I have tried, and it gives an improvement; LOCAL_POSITION_NED changes along with the movement of the drone.

However in our setup we also have a position estimate coming from triangualation (some indoor GPS sytem), which I feed to VISION_POSITION_ESTIMATE. In the default 1.8.0 PX4 firmware this is working, the values end up in LOCAL_POSITION_NED. But in the test PX4 firmware with optical flow working, the values from VISION_POSITION_ESTIMATE are no longer fused into LOCAL_POSITION_NED.

Of course I changed EKF2_AID_MASK to also incorporate vision positioning.

Any idea what changes are pending in the PX4 code to solve my issue?

Thanks and regards,

Gertjan Westeneng

Florinco B.V.

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1 Solution
idata
Community Manager
68 Views

Hello gjwesteneng,

 

 

Thank you for your interest in the Intel Aero Ready to Fly drone.

 

 

Since you have already posted on https://communities.intel.com/thread/128475 https://communities.intel.com/thread/128475 could you please continue following that thread?

 

 

Thank you very much,

 

Eliza

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idata
Community Manager
69 Views

Hello gjwesteneng,

 

 

Thank you for your interest in the Intel Aero Ready to Fly drone.

 

 

Since you have already posted on https://communities.intel.com/thread/128475 https://communities.intel.com/thread/128475 could you please continue following that thread?

 

 

Thank you very much,

 

Eliza

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