flyingros_pose

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.