Intel AERO auto flight (position control mode)

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1. Build a stable visual odometry system (ex: stereo visual odometry)

2. Send the local position to flight controller follows the PX4 coordinate system [1]

*PX4 coordinate system [2] :

3. Modify RC mode & position control mode parameters

RC mode:
0: Stabilized mode
1: Position mode
2: Altitude mode

Position control mode parameters:

4. Active stereo visual odometry system (ssh to TX2 ) and then switch to position control mode.

5. Takeoff and keep the drone manually and try to leave hand on the remote controller.

Experimental result:

*Parameters for LPE:
1. LPE_FUSION:  4
2. ATT_EXT_HDG_M: 1
3. LPE_VIS_XY: Min value
4. LPE_VIS_Z: Min value

Reference:
[1] https://chuangrobot.blogspot.com/2018/12/communicate-with-intel-rtf-flight.html
[2] https://dev.px4.io/en/ros/external_position_estimation.html
[3] https://dev.px4.io/en/advanced/switching_state_estimators.html
[4] https://dev.px4.io/en/ros/external_position_estimation.html
[5] https://forums.intel.com/s/question/0D50P0000490OppSAE/aero-rtf-struggling-to-hover?language=en_US

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