In this section, we will show you how to fly a mission outdoors without GPS. The drone uses Visual Inertial Odometry (VIO) as outlined in this VOXL Vision manual. The following video demonstration shows an m500 drone that loses GPS during a mission (GPS-denied environment), then solely using vision continues the mission returning to the launch site.
Note: This feature is still in beta. Our team is currently testing PX4 GPS and Vision fusion to ensure stability. Please exercise
caution when experimenting with this outdoor drone configuration.
In our testing, we’re currently using ModalAI PX4 Firmware v1.10.
Update the EKF2_AID_MASK. After you update the mask, the values should add up to 329:
To ensure vision system is stable (during beta testing), take-off with the drone in
manual mode about 3 meters off of the ground. Hover for approximately 30 seconds then transition into
position mode. This will merge vision and GPS giving the drone a starting GPS LAT/LON that can be interpolated by the vision system once GPS is no longer available.
Once GPS stops, LAT/LON will no longer update in QGroundControl. The drone will now solely use vision with initialized GPS coordinates.
In the video demo, we used vision as a failsafe simulating a GPS-denied environment. From here you can start or resume a mission.