Community
cancel
Showing results for 
Search instead for 
Did you mean: 
AVerm9
Beginner
1,825 Views

Is the barometer used by PX4 EKF?

I did the following quick test today -

Indoors with no GPS: connected aero to QGC and monitored the altitude_asml (while EKF2_HGT_MODE is set to barometric pressure).

But in this case there is no value shown for altitude_asml and altitude_relative.

Outdoors with GPS:

connected aero to QGC and monitored the altitude_asml (while EKF2_HGT_MODE is set to barometric pressure).

But in this case the accurate value is shown in the QGC and tends to track with the GPS_alt data. and altitude_relative shows the expected value in meters.

Is the barometric pressure not connected on the intel aero?

 

I did see online that the flight controller has a barometric pressure sensor MS5611 - https://github.com/intel-aero/meta-intel-aero/wiki/94-(References)-Sensors-GPIOs-LEDs-CAN-bus 94 (References) Sensors GPIOs LEDs CAN bus · intel-aero/meta-intel-aero Wiki · GitHub

how can I access data of the pressure sensor? given that I cannot see it being used in QGC (since I expect the pressure sensor to provide altitude data when indoors even in absence of GPS).

as per this issue one cannot access the pressure sensor from i2cget - https://github.com/intel-aero/meta-intel-aero/issues/221 Pressure Sensor and Mag Sensor · Issue # 221 · intel-aero/meta-intel-aero · GitHub

imu sensor data in mavlink inspector (QGC) -

0 Kudos
4 Replies
AVerm9
Beginner
402 Views

here is a screenshot of mavlink inspector from QGC -

VFR_HUD and altitude_monotonic seem to barometric data but is not used in calculating the altitude.

idata
Community Manager
402 Views

Hello Ambika_Verma,

 

 

Thank you for your interest in the Intel Aero drone.

 

Please let me look into it and I will get back to you later.

 

 

Regards,

 

Alexandra
idata
Community Manager
402 Views

Hello Ambika_Verma,

 

Aero carries two barometers aboard: one in the flight controller and one on the Aero compute board itself. Both of these barometers are of the MS5611 variety. QGC can only directly access the flight controller's barometer, but the on board barometer can be accessed separately.One method of accessing the on board barometer's values is via a python script. There may be other methods as well, but whichever method you choose, you should use I2C bus 2 at address 0x76 .For altitude control during indoor flight, we recommend following this instructable:

http://www.instructables.com/id/Intel-Aero-Drone-Altitude-and-Position-Hold-Using-/

Another method is to use a Lidar sensor when flying indoors.

 

 

Regards,

 

Alexandra
idata
Community Manager
402 Views

Hello Ambika_Verma,

 

 

Can I help you further with this issue?

 

 

Regards,

 

Alexandra
Reply