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This post was updated on .
Hi Mathieu
I have an distance sensor which gives my drone distance from ground(z). It is published in mavros/distance_sensor/hrlv_ez4_pub. I wanted to use this data in drone for holding height constant while navigating.
Currently the offboard_node.cpp is using z from rtab.
Can I use the z data from distance sensor instead of that provided by rtabmap ? Will this create any issues while navigating and creating map using rtab ?
In px4 parameter I set it to use efk2_hgt_ref to vision.
I wanted to reduce computation complexity on rpi4 so that I use x,y instead of all x,y,z.
Is this possible after changing offboard_node.cpp code or there is need to adjust rtabmap parameters like Reg/Force3DoF ?
Can you please explain will this work? It would be lot helpful.
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