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Beginner
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Intel drone doesn't accept attitude data through mocap topic

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Intel drone doesn't accept attitude data through mocap topic, but the drone receives the position data successfully through mocap topic. I use the VICON system to get the pose of the drone, and then publish the position and attitude data to the drone through mocap topic with a frequency of around 30 HZ. When I publish the

pose.orientation.x,

pose.orientation.y,

pose.orientation.z,

pose.orientation.w,

I just used the local quaternion value got from VICON without any coordinate transformation.

The problem is exactly like this one in the following link.

I don't know whether it has something to do with the data of /mavros/imu/data_raw or /mavros/imu/mag, it's recommended to run imu_filter_madgwick to solve this, and how to do this exactly.

Thanks in advance.

https://github.com/PX4/Firmware/issues/3803

 

I'm trying to make the drone hover at 1 meter high above the ground, when I give the reference through '/mavros/setpoint_position/local' topic, QGC shows that the targeted local position is 1 meter, but the drone just doesn't take off, I think it's because it didn't accept the attitude data from VICON, so this makes the fail to take off. I really need someone to explain it to me since I'm new to the Intel drone.

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Employee
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Hello ZChen57, Unfortunately, the problem you are currently facing seems to be related to PX4, not with the drone. The best option will be to reach out to PX4 Team for further support with this subject: https://github.com/PX4/Firmware/issues Thank you and best regards, Eliza

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3 Replies
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Employee
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Hello ZChen57, Thank you for your interest in the Intel Aero Ready to Fly drone. A good start will be to test the solution provided on PX4 Github page. You can find the ROS imu_tool and the instructions to download them on: https://github.com/ccny-ros-pkg/imu_tools and more information about imu_filter_madgwick here: http://wiki.ros.org/imu_filter_madgwick Thank you and best regards, Eliza
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Beginner
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Hi Eliza, I just want to make sure why my method to change the orientation for the drone through the "/mavros/mocap/pose" topic does not work, and which one is the right approach to solve the problem? Also can you explain the steps of the method you referred to me a little bit? That would be great since I may get confused while following this approach. *Best,* *Zhu Chen, graduate student.* *Department of Mechanical and Aerospace Engineering* *University at Buffalo, * *NY, 14261,* *(716)907-3904*
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Highlighted
Employee
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Hello ZChen57, Unfortunately, the problem you are currently facing seems to be related to PX4, not with the drone. The best option will be to reach out to PX4 Team for further support with this subject: https://github.com/PX4/Firmware/issues Thank you and best regards, Eliza

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