ArduPilot indoor navigation with RealSense T265 + QAV250 + Pixracer (Copter 4.1.0) + Raspberry Pi4

#ArduPilot #Intel #RealSense #T265 #SLAM #pixracer #pixhawk

I have done the first indoor test flight of ArduPilot non-GPS navigation with T265, but it worked better than I imagined.
Stable hovering in Loiter, automatic flight in Guided, RTL also worked without problems. Although not in the video, I was able to go on a simple mission in AUTO.
I was amazed at the stability of the flight and the high accuracy of the navigation (centimeter class !?).
Along the way, I had a issue that the altitude became an irregular value (-120m!), But I think this is a problem of barometer in FC, which has nothing to do with non-GPS navigation.

I used...
FC : Pixracer, Copter 4.1.0-beta4
CC : Raspberry Pi4 4GB, APSync ubuntu image for T265
https://firmware.ardupilot.org/Companion/apsync/apsync-rpi-ubuntu-t265-latest.img.xz
Frame : QAV250 Kit frame
http://www.holybro.com/product/pixhawk-4-mini-qav250-kit/

Non-GPS navigation Intel RealSense T265 (ArduPilot Wiki)
https://ardupilot.org/copter/docs/common-vio-tracking-camera.html

T265 soft mount parts
https://www.thingiverse.com/thing:4774604
https://www.thingiverse.com/thing:3483497

Видео ArduPilot indoor navigation with RealSense T265 + QAV250 + Pixracer (Copter 4.1.0) + Raspberry Pi4 канала Hideyuki F