嗨，
我已经通过各种
论坛配置我的Aero无人机以使用光流，但无法让它工作。
我连接了LeddarOne传感器。
我有：
将EKF2_AID_MASK设置为2（使用光流）SYS_MC_ESG_GROUP为1（ekf2）SENS_EN_LEDDAR1为1Downloaded，编译并运行aero-op
tical-flow软件包。
它似乎工作和检测移动QGroundControl>小部件> MAVLink检查器> OPTICAL_FLOW_RAD>质量远远超过100（除非我把手放在相机前）QGroundControl>小部件> MAVLink检查器> DISTANCE_SENSOR> current_distance显示高于地面的高度
BIOS_VERSION = Aero-01.00.16
OS_VERSION = Ubuntu 16.04.5 LTS“
AIRMAP_VERSION =未知
FPGA_VERSION = 0xc2
AeroFC固件版本= 1.8.0
将无人机移动到表面上方对LOCAL_POSITION_NED没有影响。
然而，OPTICAL_FLOW_RAD似乎确实发生了变化。
现在在之前的帖子中，来自英特尔（耶稣）的人提供了一个测试PX4固件（名为“aerofc-v1_default_leddar_one.px4”），我已经尝试过，它提供了改进;
LOCAL_POSITION_NED随着无人机的移动而变化。
然而，在我们的设置中，我们还有来自三角测量（一些室内GPS系统）的位置估计，我将其提供给VISION_POSITION_ESTIMATE。
在默认的1.8.0 PX4固件中，这是有效的，值最终在LOCAL_POSITION_NED中。
但在具有光流工作的测试PX4固件中，VISION_POSITION_ESTIMATE的值不再融合到LOCAL_POSITION_NED中。
当然，我改变了EKF2_AID_MASK以结合视觉定位。
知道PX4代码中有哪些更改待解决我的问题？
感谢致敬，
Gertjan Westeneng
Florinco B.V.
以上来自于谷歌翻译
以下为原文
Hi,
I have gone through various forums configuring my Aero drone to use optical flow, but can't get it to work.
I have connected the LeddarOne sensor.
I have:
- set EKF2_AID_MASK to 2 (use optical flow)
- SYS_MC_ESG_GROUP to 1 (ekf2)
- SENS_EN_LEDDAR1 to 1
- Downloaded, compiled and ran the aero-optical-flow package. It seems to work and detect movement
- QGroundControl>Widgets>MAVLink Inspector>OPTICAL_FLOW_RAD>quality is well above 100 (unless I put my hand in front of the camera)
- QGroundControl>Widgets>MAVLink Inspector>DISTANCE_SENSOR>current_distance show the heigth above ground
BIOS_VERSION = Aero-01.00.16
OS_VERSION = Ubuntu 16.04.5 LTS"
AIRMAP_VERSION = unknown
FPGA_VERSION = 0xc2
AeroFC firmware version = 1.8.0
Moving the drone above the surface has no influence on LOCAL_POSITION_NED. However OPTICAL_FLOW_RAD does seem to change.
Now in a previous post, someone from Intel (Jesus) provided a test PX4-firmware (named "
aerofc-v1_default_leddar_one.px4"), which I have tried, and it gives an improvement; LOCAL_POSITION_NED changes along with the movement of the drone.
However in our setup we also have a position estimate coming from triangualation (some indoor GPS sytem), which I feed to
VISION_POSITION_ESTIMATE. In the default 1.8.0 PX4 firmware this is working, the values end up in LOCAL_POSITION_NED. But in the test PX4 firmware with optical flow working, the values from VISION_POSITION_ESTIMATE are no longer fused into LOCAL_POSITION_NED.
Of course I changed EKF2_AID_MASK to also incorporate vision positioning.
Any idea what changes are pending in the PX4 code to solve my issue?
Thanks and regards,
Gertjan Westeneng
Florinco B.V.
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