Initial Commit

config/mavros_params.yaml

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+# MAVROS Configuration for GPS-Denied Navigation
+# GPS is DISABLED for navigation, ENABLED only for geofencing
+
+/**:
+  ros__parameters:
+    use_sim_time: true
+    
+    # Connection
+    fcu_protocol: "v2.0"
+    
+    # System
+    system_id: 1
+    component_id: 1
+    
+    # Time sync
+    time:
+      time_ref_source: "fcu"
+      timesync_mode: MAVLINK
+      timesync_avg_alpha: 0.6
+    
+    # GPS Settings - ONLY for geofencing
+    gps:
+      # Disable GPS for navigation
+      use_gps_for_navigation: false
+      
+      # Enable GPS only for geofence
+      enable_gps_geofence: true
+    
+    # Local position (PRIMARY navigation source)
+    local_position:
+      frame_id: "map"
+      tf:
+        send: true
+        frame_id: "map"
+        child_frame_id: "base_link"
+      
+      # Use local odometry, NOT GPS
+      use_vision: true  # Will use our visual odometry
+    
+    # Vision pose input (from visual odometry)
+    vision_pose:
+      tf:
+        listen: false
+        frame_id: "odom"
+        child_frame_id: "base_link"
+    
+    # Vision speed input (from optical flow)
+    vision_speed:
+      listen_twist: true
+    
+    # Setpoint configuration
+    setpoint_raw:
+      thrust_scaling: 1.0
+    
+    setpoint_position:
+      tf:
+        listen: false
+      # Use LOCAL_NED frame (relative positioning)
+      mav_frame: 1  # MAV_FRAME_LOCAL_NED
+      
+    setpoint_velocity:
+      mav_frame: 8  # MAV_FRAME_BODY_NED (body-relative)
+    
+    # Disable GPS-based modes
+    # Only allow: MANUAL, STABILIZE, ALT_HOLD, GUIDED (local), LOITER (local)
+    allowed_modes:
+      - "MANUAL"
+      - "STABILIZE"
+      - "ALT_HOLD"
+      - "GUIDED"
+      - "LOITER"
+      - "RTL"  # Returns to LOCAL origin, not GPS home