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Matrice drift control and way point navigation with other sensors
695 2 2015-11-26
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robnsngh
lvl.1

United States
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Hi,

ONBOARD-SDK-ROS subscribes to the odometry and velocity message which presumable comes from the GUIDANCE computer.

1. Is it possible to control matrice by using velocity and odometry messages from other sensors such as range sensors ?

2. How is drift control implemented while using the GUIDANCE ? Is it running in the background while any controlling commands are overwrriten/merged with the GUIDANCE's drift control commands OR does ONBOARD-SDK-ROS implements drift control once it receives odometry and velocity commands ?
2015-11-26
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lanyusea
lvl.3
Flight distance : 47185 ft
  • >>>
Hong Kong
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Hi,

1. possible but you need to implement your own control logic.
for example, the velocity control, the place where drone gets velocity is the IMU. Since you are trying to use your own velocity sensor, you need to implement a velocity control loop by attitude control(roll/pitch) with your sensors' feedback.

2. Guidance does not control the drone, it is just sending the velocity data into the N1 controller. N1 does the sensor fusion.
As I know, the sdk ROS pkg has nothing to do with the drift.
2016-1-7
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DJI-Amy
DJI team

Hong Kong
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Hi,
1) You can use other sensors to control the aircraft, the connecting interface can be provided. https://developer.dji.com/onboard-sdk/features//
2) Guidance is used to collect and send date.
3) The flight control will decide the priority.
2016-1-7
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