Im new here! Im Tom, a student here in Australia!
I was hoping to use the PX4 stack with a self contained, external IMU. It is a self contained hardware module and simply outputs its global position, speed, accell and pose all over RS-232 at a high refresh rate. I was hoping simply take this data and integrate it into the stack and use that as it implements all the filtering and computation.
Im not too sure about the best way to do this and would like some advice. I was thinking about using the Mavlink message # 104, VICON_POSITION_ESTIMATE, but this doesnt take the velocities and accelerations. Then I thought # 105, HIGHRES_IMU, but that wants magnetometer readings, which I dont have access to.
I was also hoping to not have any other filters associated to the data stream.
And, lastly, I was hoping to do this on either a Raspberry Pi, or another single board, ARM, Linux computer, so modifying internal code and using seperate drivers is an easy option.