Indoor Navigation - M210 V2
已完成I'm trying to develop indoor navigation routine for M210 V2 with position from LiDAR-SLAM data. I have the OSDK-ROS working on Manifold-2C connected to M210. Everything is working as expected.
I understand I cannot use the mission routine available in OSDK since after it uploads waypoints to the flight controller, it uses GPS signal for positioning during flight, which will not be available.
1) Is it in any way possible to override the GPS data with LiDAR position data for indoor flight?
2) Is there any other OSDK utility available that I can use for this purpose?
Any help will be highly appreciated.
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DJI drone itself does not provide control solutions for non-GPS environments. In non-GPS environments, only OSDK attitude control API is recommended. Developers develop positioning and navigation by themselves. Note that the developer’s positioning and navigation cannot be sent to DJI flight controllers, Only through OSDK's attitude control API to control the flight. API: dji_control.hpp https://github.com/dji-sdk/Onboard-SDK/blob/dc4b77d48fbc8af47ab95e05cc237e0212e9413f/osdk-core/api/inc/dji_control.hpp#L470 -
Sorry, There is no control sample for non-GPS environment for refference, but a flight control sample is provided in the OSDK sample, which uses position to control the movement of the drone. You can refer to it and modify it to the attitude control mode. https://github.com/dji-sdk/Onboard-SDK/tree/master/sample/platform/linux/flight-control -
Thanks for the pointer. I have started looking at this development. Quick question: If I am in att mode, can I pass a command to enable collision avoidance (such as vehicle->flightController->setCollisionAvoidanceEnabledSync(
FlightController::AvoidEnable::AVOID_ENABLE, 1);)? Or I will have to write my own routines for collision avoidance as well? -
The setCollisionAvoidanceEnabledSync API is used to enable/disable the obstacle avoidance function of the FC. When the obstacle avoidance is enabled, the OSDK control can also trigger obstacle avoidance (the obstacle direction decelerates to hovering), and you can also subscribe to the obstacle distance and develop your own obstacle avoidance logic. OSDK4.1 version supports M210 v2 and M300 models to obtain the obstacle distance by subscribing to TOPIC_AVOID_DATA: Description: Front visual system Obstacle perception range 0.7-30 m Top infrared sensing system Obstacle sensing range 0-5 m Bottom ultrasonic distance measurement + vision system vision range <10 m If no object is detected, the corresponding Health flag is 0 ![](/hc/article_attachments/900008822523/mceclip0.png) -
Thanks. I'm having issues here while trying to come up with an equivalent function for attitude control of below in OSDK-ROS.
bool moveByPosOffset(FlightTaskControl& task,const JoystickCommand &offsetDesired,
float posThresholdInM,
float yawThresholdInDeg)
{
task.request.task = FlightTaskControl::Request::TASK_POSITION_AND_YAW_CONTROL;
task.request.joystickCommand.x = offsetDesired.x;
task.request.joystickCommand.y = offsetDesired.y;
task.request.joystickCommand.z = offsetDesired.z;
task.request.joystickCommand.yaw = offsetDesired.yaw;
task.request.posThresholdInM = posThresholdInM;
task.request.yawThresholdInDeg = yawThresholdInDeg;task_control_client.call(task);
return task.response.result;
}Can you please point me to the right direction? Thanks
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The Manifold 2C I've been using has suddenly stopped working. It won't even turn on. Only one solid red LED light turns on. Fan remains off too - and black screen on display. I'm using DJI power supply to power it and have checked, it's giving 26V. Please let me know how I can get it repaired. It should still be under warranty since I bought it only about 2 months ago. Serial number is 1CWEG4V0010012 and it was bought by the following.
Clickmox Solutions Inc
1545 Maley Drive, Sudbury, ON P3A 4R7
Canada
+1-705-207-5345; naeem@clickmox.com
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Regarding the after-sales of the product, please consult support@dji.com, and you can apply for repair through the official website for product hardware maintenance. https://repair.dji.com/repair/index?site=brandsite&from=nav
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