Initial Commit

config/ardupilot_gps_denied.parm

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+# ArduPilot Parameters for GPS-Denied Navigation
+# GPS ONLY used for geofencing, NOT navigation
+
+# ====================
+# GPS Configuration
+# ====================
+# Disable GPS for navigation
+GPS_TYPE 0
+GPS_TYPE2 0
+
+# ====================
+# Geofence Settings
+# ====================
+# Enable geofence (still uses GPS for boundaries)
+FENCE_ENABLE 1
+FENCE_TYPE 7          # All fence types (circle + polygon + altitude)
+FENCE_ACTION 1        # RTL on breach
+FENCE_ALT_MAX 50      # Maximum altitude (meters)
+FENCE_RADIUS 100      # Circular fence radius (meters)
+FENCE_MARGIN 2        # Margin inside fence for warning
+
+# ====================
+# EKF Configuration
+# ====================
+# Use EKF3 with external navigation
+AHRS_EKF_TYPE 3
+EK3_ENABLE 1
+EK2_ENABLE 0
+
+# EKF3 Source Configuration
+# Source 1: External Nav (Visual Odometry)
+EK3_SRC1_POSXY 6      # External nav for XY position
+EK3_SRC1_POSZ 1       # Barometer for Z position
+EK3_SRC1_VELXY 6      # External nav for XY velocity
+EK3_SRC1_VELZ 0       # None for Z velocity
+EK3_SRC1_YAW 6        # External nav for yaw
+
+# EKF3 Position Innovation Gate
+EK3_POS_I_GATE 300    # Larger gate for visual odometry
+
+# ====================
+# Vision Position Input
+# ====================
+VISO_TYPE 1           # MAVLink vision position
+VISO_POS_X 0.1        # Camera X offset from CG (meters)
+VISO_POS_Y 0.0        # Camera Y offset from CG (meters)
+VISO_POS_Z -0.05      # Camera Z offset from CG (meters)
+VISO_ORIENT 0         # Camera orientation (0 = forward)
+VISO_DELAY_MS 50      # Vision position delay (ms)
+
+# ====================
+# Optical Flow
+# ====================
+FLOW_TYPE 1           # Enable optical flow
+FLOW_FXSCALER 200     # X scale factor
+FLOW_FYSCALER 200     # Y scale factor
+FLOW_POS_X 0.0        # Flow sensor X offset
+FLOW_POS_Y 0.0        # Flow sensor Y offset
+FLOW_POS_Z 0.0        # Flow sensor Z offset
+
+# ====================
+# Rangefinder (for altitude in GPS-denied)
+# ====================
+RNGFND1_TYPE 1        # Analog rangefinder
+RNGFND1_MIN_CM 10     # Minimum range (cm)
+RNGFND1_MAX_CM 1000   # Maximum range (cm)
+RNGFND1_ORIENT 25     # Downward orientation
+
+# ====================
+# Failsafe Settings
+# ====================
+FS_EKF_ACTION 1       # Land on EKF failsafe
+FS_EKF_THRESH 0.8     # EKF failsafe threshold
+FS_VIBE_ENABLE 0      # Disable vibration failsafe (optical flow sensitive)
+
+# ====================
+# Flight Modes
+# ====================
+# Disable GPS-dependent modes
+# Allowed: STABILIZE, ALT_HOLD, LOITER (with optical flow), GUIDED
+FLTMODE1 0            # Stabilize
+FLTMODE2 2            # Alt Hold
+FLTMODE3 5            # Loiter (optical flow based)
+FLTMODE4 4            # Guided
+FLTMODE5 6            # RTL (returns to local origin)
+FLTMODE6 9            # Land
+
+# ====================
+# Arming Checks
+# ====================
+# Relax arming checks for GPS-denied operation
+ARMING_CHECK 14      # Skip GPS check (bit 2 = 4)
+
+# ====================
+# Logging
+# ====================
+LOG_BITMASK 176126    # Log all relevant data
+LOG_DISARMED 0        # Don't log when disarmed