We are working on visual hovering indoor using 6 optitrack cameras. However, it does not work with the following configuration.
I can see the data stream in the mocap node and the data was received by the mavros correctly.
[ INFO] [1495755189.973277609]: FCU: [lpe] mocap position init: 0.11, 0.18, 0.20 m
[ INFO] [1495755190.162792328]: FCU: [lpe] mocap timeout
However, the terminal kept sending timeout during the flight and posctrl was rejected. The drone doesnot fly correctly.
MAVROS version and platform, Autopilot type and version
Odroid side: 14.04+mavros+mocap_optitrack+wifi;
Flight controller side: px4 stack 1.6.1 lpe+921600@telem2+Lpe_fusion is set to use vision position and vision yaw and othersare unchecked + ATT_EXT_HDG_M is set to motion capture;
PC side: motive tracker is broadcasting the rigid body frames through wired ethernet connection.