Hi everyone,
I am busy setting up a dji S1000 platform fitted with a Pixhawk and Septentrio RTK GPS. The GPS is a L1/L2 GPS that gives centimeter level precision. The idea is to build a drone that will fly autonomously with a high level precision to set preloaded waypoints (within around 20cm).
I am using Mission Planner for the Ground Control Software and I am wondering if anyone has any advice on what parameters to adjust in Mission Planner to allow the drone to rely more on the 'now accurate' GPS location. To be more specific...
- Firstly, Is there any way to get the drone to fly off of the GPS altitude instead of the barometer? I saw the option of setting it to either the barometer or a rangefinder but GPS was not an option... with the RTK GPS I can achieve centimeter level vertical precision which is far more accurate then the barometer.. seems a shame not to be able to use it.
- Secondly, how would one go about getting it to fly more accurately to the set waypoint coordinates and along the waypoint flight path? I saw there is the WPNAV_RADIUS parameter which defines the radius within which the drone must fly for the waypoint to be considered 'hit'; however this parameter has a lower-end range of 100cm. This lower-end range is still far to high as I am looking at trying to get the drone to fly to within roughly 20 - 30cm from the waypoint.
Any other advice on parameters or factors to consider in getting the drone to fly autonomously with a high level of precision would be much appreciated.
My coding ability or experience is limited to say the least so I would prefer it if I didn't have to go into Mission Planner's code to change things; But I am open to anything if its what has to be done:).
Looking forward to hearing everyone's input.
- Thanks in advance
Jonathan
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