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Flyingros_pose

Flyingros_pose is the localization package. You can add new localization method. As this the "main" part of an autonomous multicopter, there is a whole tutorial helping you to choose your localisation(s) method.

Go check the TUTORIALS

Main idea

  • Based on MSF (Multi Sensor Fusion - from ethzasl)
  • Merge IMU
  • Merge Sensors
  • Output the position to /mavros/mocap/pose

Available data

  • PixHawk IMU
  • GPS RTK (as local NED)
  • Lasers, altitude, position, yaw angle
  • Onboard GPS
  • Camera (SLAM)
  • Pozyx/Marvelmind

Camera choice

  • mvBlueFOX-IGC200wG-1112 (~320 €)
  • Vimba on ARMv7 HF did not worked well for us on the Odroid, the frames where incomplete.
  • USB customer camera (Odorid 720p for example) : To avoid, too slow and no global shutter.