Comments (4)
It's possible through off-board mode. As @julianoes mentioned without GPS drones should have either VIO or MO-CAP.
We've built a indoor drone using VIO with PX4. We use Velocity-Ned and Position-NED(Prefered) function for autonomous control through MAVSDK-Python. You can also try it.
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That's a question that comes up often. I think it boils down to whether PX4 (assuming you're using PX4) can do autonomous flight without GPS.
Usually you need something like flow or VIO or a MOCAP system to do that. Otherwise you have to fly manually because you'd drift away pretty quickly.
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Thank you for your answer.
Is it possible to use offboard mode?
`
await drone.action.arm()
print("Setting initial setpoints...")
await drone.offboard.set_velocity_ned(
VelocityNedYaw(0.0, 0.0, 0.0, 0.0))
print("Starting offboard control...")
try:
await drone.offboard.start()
except OffboardError as error:
print(f"Starting offboard mode failed with error code: {error._result.result}")
print("-- Disarming")
await drone.action.disarm()
return
print("Taking off manually...")
await drone.offboard.set_velocity_ned(
VelocityNedYaw(0.0, 0.0, -1.0, 0.0)) # Ascend with -1.0 m/s velocity
await asyncio.sleep(5)
print("Hovering...")
await drone.offboard.set_velocity_ned(
VelocityNedYaw(0.0, 0.0, 0.0, 0.0)) # Hover in place
await asyncio.sleep(10)
print("Landing manually...")
await drone.offboard.set_velocity_ned(
VelocityNedYaw(0.0, 0.0, 1.0, 0.0)) # Descend with 1.0 m/s velocity
await asyncio.sleep(5)
print("Stopping offboard control...")
try:
await drone.offboard.stop()
except OffboardError as error:
print(f"Stopping offboard mode failed with error code: {error._result.result}")
print("Disarming...")
await drone.action.disarm()
`
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No, offboard requires a position (or at least velocity) estimate, unless you use attitude offboard.
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