hi
i am currently using a pixhawk 6 for thrusters control
i have also a depth sensor and a stearo camera for vslam if that helps
the thing is i am struggling with the flight modes
i know most of them require gps so for an auv my only choice right now is to use the overrideRC channel to publish topics
** iam using ros2 humble by the way**
so for advanced tasks it is diffcult to adjust every pwm for each thruster and sending it to the pixhawk
is there any way i can use the guided mode or any mode that will enble me just to define xyz for the auv to move around and perfom missions ?
To use those modes, the vehicle needs a position source. This could come from a the ROVL Mk2 and/or Tracker 650 from Cerulean Sonar, or the Waterlinked UGPS and A50 DVL.
A DVL will provide faster position data, but be subject to drift. Location from the UGPS/ROVL is coarser, but more accurate in global lat/long coordinates.
If you’re working with a stereo camera, determining odometry from it and feeding it to the autopilot would be another cool solution to the problem!
yeah i read about it last night
i think i can use a stearo camera for the x and y
and a depth sensor for the z
this i think can work really well with a bit of delay
i have been sesrching for a mode thaf can handle this and i have found a mode called GUIDED_NOGPS
The idea of it is awesome
but whenever i try to use it as a mode i get unkown mode
i have tested it in ardupilot sitl so
how can i use that mode is there a specific version of ardusub i must use or what ?