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Ultra wide band simulation

QGroundControl parameters setup

The following parameters must be set to use external position information with EKF2 (these can be set in QGroundControl > Vehicle Setup > Parameters > EKF2).

Parameters Setting for External Position Estimation
UXRCE_DDS_CFG a desired port on your flight controller
ser_tel1_baud 921600
EKF2_EV_CTRL Select horizontal position fusion, vertical vision fusion
EKF2_HGT_REF Set to Vision to use the vision as the reference source for altitude estimation.
EKF2_EV_POS_X,Y,Z Set the position of the vision sensor (or UWB tag) with respect to the robot's body frame.
EKF2_GPS_CTRL Disable GPS sensor fusion
EKF2_BARO_CTRL Disable Barometer sensor fusion
EKF2_RNG_CTRL Disable range finder sensor fusion

Parameters Load (Instead of modifying it manually in QGroundControl)

To perform the simulation with UWB (external positioning system) you need first to setup the PX4 parameters in QGroundControl. You can load the parameters for the UWB simulation by opening QGroundControl and loading the parameters present in the folder QGround_parameters. In particular, you can load:

Simulations

Depending of the type of simulation that you want to perform, you need to setup the enviromnet following in different ways:

  • Software in the loop, skip the step where specified (Only for experimental simulations)
  • Hardware in the loop, skip the step where specified (Only for experimental simulations)
  • Experimental tests: make sure that your drone is in Ready to fly state before lauch the simulation (see next steps)

To perfrom SITL and HITL simulations install first the UWB plugin, see section plugin

Bridge UWB to PX4 (Only for SITL and HITL simulations)

On the command prompt enter

cd ~/PX4-mini-drone
ros2 run bridge_uwb_px4 uwb_bridge_sitl

This will start the bridge in order to fill the message fmu/in/vehicle_visual_odometry which is necessary for the external pose estimation

Bridge UWB to PX4 (Only for experimental simulations)

Before lauch the bridge make sure that your external postion reference frame system match the drone reference frame, open uwb_bridge mb1202_bridge and modify if necessary

On the command prompt enter

cd ~/PX4-mini-drone
ros2 launch launch/uwb_offboard.launch.py

This will start the uwb and mb1202 bridges in order to fill the message fmu/in/vehicle_visual_odometry which is necessary for the external pose estimation

Run the program

You can run the same program used for the motion capture simulations

Point target

cd ~/PX4-mini-drone
ros2 run mcoap mocap

Velocity target

cd ~/PX4-mini-drone
ros2 run mcoap mocap_vel

Square trajectory

cd ~/PX4-mini-drone
ros2 run mcoap mocap_square