We have developed an easy way to integrate IndoTraq’s 3D Indoor Position Tracking system with any drone that has an open UART port and understands MAVLink messages. The drone shown in the video below is using the standard PX4 unmodified firmware.
The UART port on the IndoTraq tag was connected to the Telem 2 port on the Pixhawk FMU (flight management unit). MAVLink messages containing X,Y,Z coordinates in the NED frame are continuously streamed to the Pixhawk. This gives the drone an accurate position feedback.
In this second part, we are demonstrating flying from point to point in offboard mode. When using offboard mode, RC control via human is disabled. Instead MAVLink commands are sent to the Pixhawk with position set points.
Check out the video below for a demonstration: