Re: [Paparazzi-devel] Vicon integration with ardrone2

[Felix Ruess]

Hi Candice,

do you already have a program that reads the position vom Vicon and sends some Mavlink message to the drone?

If yes, what message? You probably need to add parsing of that message to the mavlink module and update the gps_datalink module accordingly.

In paparazzi the GCS doesn't directly send any message to the drone, but you can write an "agent" that connects to the ground network using IVY and have messages forwarded to the drone by the link agent.

See https://wiki.paparazziuav.org/wiki/Overview#System_Architecture

If you want to send mavlink messages to the drone, this has to be handled by your program directly though...

Cheers, Felix

On Wed, Mar 1, 2017 at 4:15 AM, Redon Blue22 <address@hidden> wrote:

Hi Felix,

Thanks again for the good advice, I incorporated what you suggested and it works! As far as GPS not required for the launch initiate. Haven't incorporated the Vicon data due to booking constraints (frustrating)

I am attempting to fly the drone (latter multiple drones) in the Vicon arena so the Mavlink will be incorporated by the GCS to provide rapid way point updates to fly the drones in a coordinated manner.  

My intention is that the Mavlink data will be converted to GPS coordinates/position by the GCS then send to the drone. Do you think this is wise? or is it better to have the GCS send the drone the Mavlink positiondata and let it do its own conversion?

thanks again for taking the time to answer.

seeya

Candice

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From: Paparazzi-devel <paparazzi-devel-bounces+redonblue22=hotmail.com@nongnu.org> on behalf of Felix Ruess <address@hidden>
Sent: Sunday, 26 February 2017 10:01 PM

To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] Vicon integration with ardrone2

 

HI Candice,

if you don't want to use a GPS at all but take off in NAV mode, remove the gps module from your airframe file and add

<define name="NO_GPS_NEEDED_FOR_NAV"/>

But you will not have any position information...

Or if you want to fly indoor using Vicon, basically convert your vicon position to a GPS position and send it via GPS_DATALINK. The aircraft will treat it like a "normal" GPS.

Mavlink incorporated on which side? The aircraft or the ground segment? To do what exactly?

Cheers, Felix

On Sun, Feb 26, 2017 at 12:23 AM, Redon Blue22 <address@hidden> wrote:

Hi Felix,

Thanks for the reply,

In regards to the question about "GPS for initial launch capability"... , I haven't been able to get the ardrone2 to get passed the point of "waiting for gps" when attempting to launch without having a gps fix. My current work has led to using a ublox gps to get a gps 3d fix to get the "launch initiate".

I was also working on simply attempting to alter the code so that "gps = true" so that ultimately I don't need gps to initiate launch but I am having issues with the correct class to write this into, any help here is greatly appreciated. There seems to be a multitude of areas which reference the same object, it must take a long time to get your head around this complexity.

One last thing... I thought that Mavlink could easily be incorporated by using the path:

paparazzi/sw/ext/mavlink/examples/linux/mavlink_udp.c

once again thanks for the reply,

kind regards,

Candice

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From: Paparazzi-devel <paparazzi-devel-bounces+redonblue22=address@hidden> on behalf of Felix Ruess <address@hidden>
Sent: Friday, 24 February 2017 7:25 PM
To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] Vicon integration with ardrone2

 

Hi, 

The TV Delft guys are using Optitrack via natnet2ivy on the ground and gps_datalink on the vehicle. 

For Vicon you would just have to write a similar adapter to natnet2ivy. 

I didn't quite understand your question about "GPS for initial launch capability"... 

Cheers, Felix 

Am 21.02.2017 6:51 vorm. schrieb "Candice Berram" <address@hidden>:

Hi, I'm about to begin using a Vicon system for the mavlink data for position
accuracy. Has anyone else used this system and are there any issues they
encountered. I do like the paparazzi source code having mavlink capability
all ready possible.

I am also maintaining the gps for initial launch capability with the ublox
gps, is there any requirement for this? or can gps simply be set to "gps
valid or (true)? in the gps class?

thanks



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Thanks so much, have a nice day
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