I am using pixhawk with six cameras optitrack, my target is use the external position and send position data to pixhawk.
My pixhawk setup: offboard mode, I enable LPE estimator and enable the option mocap in the ATT_EXT_HDG_M parameter. I am using telemetry (TELEM1) with 57600 baudrate to communicate my pc (mavros) with pixhawk.
I have done the following:
Motive to ROS: I am using vrpn node.
I am remapping the vrpn topic to mavros/mocap/pose topic.
My Quiestions are the followings:
Does the topic mocap/pose perform the transformation of ENU to NED coordinates?
Is my drone ready to take off without problems?
Do I need to modify other parameters?