From 25bdf1ca28298e0e7a15277849b895216195cc24 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 14 Mar 2024 13:46:12 +0900 Subject: [PATCH] Common: modalai updates for 4.5.0 explain VISO_QUAL_MIN and add link to extnav-optflow transitions lua script --- common/source/docs/common-modalai-voxl.rst | 3 +++ 1 file changed, 3 insertions(+) diff --git a/common/source/docs/common-modalai-voxl.rst b/common/source/docs/common-modalai-voxl.rst index 1e1927dbb9..bd67fefbab 100644 --- a/common/source/docs/common-modalai-voxl.rst +++ b/common/source/docs/common-modalai-voxl.rst @@ -56,6 +56,7 @@ Connect to the autopilot with a ground station (i.e. Mission Planner) and check - Optionally set :ref:`SERIAL2_OPTIONS ` = 1024 (Don't forward mavlink to/from) to disable the camera's odometry messages from being sent to the GCS - :ref:`VISO_TYPE ` = 3 (VOXL) - Set :ref:`VISO_POS_X `, :ref:`VISO_POS_Y `, :ref:`VISO_POS_Z ` to the camera's position on the drone relative to the center-of-gravity. See :ref:`sensor position offset compensation ` for more details +- Optionally increase :ref:`VISO_QUAL_MIN ` to 10 (or higher) to only consume estimates from the camera when the quality is 10% (or higher) If only the VOXL camera will be used for position estimation and heading (e.g. No GPS): @@ -86,6 +87,8 @@ After the parameters are modified, reboot the autopilot. More details on :ref:`GPS/Non-GPS Transitions can be found here ` +To use an optical flow and rangefinder for backup in case the VOXL fails, a Lua applet for `ExternalNav/Optical flow transitions is here `__ + Videos ------