Intel RTF auto takeoff and landing using stereo visual odometry via mavlink
Method1: MavROS Step1: Install ROS [1] Step2: Download and run PX4 Gazebo simulator ( Install the development toolchain! [2] ) Step3: Create ROS workspace, make and run ROS node ( fcu_url:="tcp://192.168.8.1:5760" ) Think: How to revise the following part to the result of stereo VO ? geometry_msgs::PoseStamped pose; pose.pose.position.x = 0; pose.pose.position.y = 0; pose.pose.position.z = FLIGHT_ALTITUDE; ***模仿*** 1. https://github.com/OsloMet1811/Digital-Twin/tree/master/drone_mocap 2. https://www.youtube.com/watch?v=iysofezsteA 3. https://github.com/PX4/Firmware/issues/6364#issuecomment-410481134 4. https://github.com/mavlink/mavros/tree/master/mavros_extras Install VRPN: 1. Compiling 2. https://github.com/vrpn/vrpn/wiki/Writing-Servers Parameters for Intel RTF: 1. State estimator: EKF2 2. Mavlink pose data: ATT_POS_MOCAP 3. EKF2_AID_MASK: 8 4. EKF2_HGT_MODE: Vision 5. EKF2_EV_DELAY: 30ms Reference: 1. https://github.com/UCM-M