qgroundcontrol icon indicating copy to clipboard operation
qgroundcontrol copied to clipboard

Published 20 hours ago • verified publisher icon mavlink

Implement 'Set EKF Origin' in fly view

Open Williangalvani opened this issue 3 years ago • 7 comments

This is useful for ardupilot for navigation using odometry and other gps-less modes. set_ekf_origin

Is this relevant for PX4? should it be hidden behind a supportsSettingEkfOrigin() in FirmwarePlugin?

This needs testing. My sensors are dead...

Williangalvani avatar Jan 20 '22 18:01 Williangalvani

hey @bkueng is this also helpful for PX4 or should we limit this for APM only?

mrpollo avatar Feb 08 '22 16:02 mrpollo

PX4 implements this as well. However from a UI perspective I'm not sure where it makes sense to expose this to all users.

bkueng avatar Feb 09 '22 07:02 bkueng

FYI @mcsauder

dagar avatar Mar 03 '22 22:03 dagar

How about slightly more generic naming as the message (SET_GPS_GLOBAL_ORIGIN) isn't EKF specific and it isn't necessarily an EKF on the other side?

http://mavlink.io/en/messages/common.html#SET_GPS_GLOBAL_ORIGIN

dagar avatar Mar 04 '22 13:03 dagar

@bkueng @dagar do you have time to help me push this through the finish line? its a good feature that could benefit users

mrpollo avatar Aug 17 '22 17:08 mrpollo

Fix up the conflicts and maybe rebase. After that it should be good to go!

-Mark

mcsauder avatar Aug 18 '22 01:08 mcsauder

Thanks @mcsauder I went ahead and fixed the conflicts so we can get this in ASAP. I would like to make a new point release soon.

mrpollo avatar Aug 18 '22 01:08 mrpollo

ping @Williangalvani can you update the code based on the review and rebase over master ?

patrickelectric avatar Oct 21 '22 11:10 patrickelectric

I can clean this up. But is there some way to understand when this command is necessary? As far as I can tell from the current state of the code showSetEkfOrigin is always true. So every QGC user is going to see this new menu item. Even though a massive percentage of users will have no idea what it's used for.

DonLakeFlyer avatar Jan 03 '24 00:01 DonLakeFlyer

With Ardupilot, this is useful when you are flying a vehicle with no absolute positioning. In our case, we have ROVs with very accurate DVL (think velocity sensors) which can be used for navigation. But first the user has to manually tell the vehicle where it is for it to have a starting point.

Williangalvani avatar Jan 03 '24 14:01 Williangalvani

Yeah I get that part. But I"m assuming this is only needed in certain situations. For example: Should this option only be shown if QGC isn't receiving any GPS telemetry? OR something else like that?

DonLakeFlyer avatar Jan 03 '24 15:01 DonLakeFlyer

Right, from Ardupilot's perspective. we should be able to show this only if we have GLOBAL_POSITION_INT showing lat/long == (0,0) There might be a better option, let me ask the other devs

Williangalvani avatar Jan 03 '24 15:01 Williangalvani

  • Can you only expose this if no gps is used? It's in SYS_STATUS.

Oh, wait I just saw this. Does this work for PX4 and ArduPilot?

DonLakeFlyer avatar Jan 03 '24 16:01 DonLakeFlyer

Yes that makes sense! it is actually how I hid the "No GPS Fix" message for sub in here: https://github.com/mavlink/qgroundcontrol/pull/9701/files#diff-86909c8722a0a27e4936cfbe08a7e0b463c6f8100575adf84375e312659e9508R558

Williangalvani avatar Jan 03 '24 16:01 Williangalvani

@Williangalvani ?

DonLakeFlyer avatar Jan 14 '24 01:01 DonLakeFlyer