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imrasp / LearnVI_Drone

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VISION_POSITION_ESTIMATE message #3

Open imrasp opened 6 years ago

imrasp commented 6 years ago

VISION_POSITION_ESTIMATE send the message in NED coordinate with nanosec for timestamp

vision_position_estimate(stamp.toNSec() / 1000,
                                       position.y(), position.x(), -position.z(),
                                       roll, -pitch, -yaw); // ??? please check!

REF: https://github.com/mavlink/mavros/issues/225 http://discuss.px4.io/t/vision-position-estimation-fusing-with-msf-framework-imu-camera-setting-problem/727/4

imrasp commented 6 years ago

LPE is...

https://dev.px4.io/en/advanced/switching_state_estimators.html LPE position estimator The LPE position estimator is an extended kalman filter for 3D position and velocity states.

imrasp commented 6 years ago

FMU - Flight Management Unit FCU - Flight Control Unit, or autopilot