I was wondering as to what would be the easy way to implement GPS denied waypoint navigation (with co-ordinates in local frame with origin being home) on the PixHawk (flu-v2). The default waypoints are GPS based and I wish to avoid that. I have established stable connection over UART with a Raspberry Pi, which is my companion computer. Do I push in the co-ordinates as VisionX, VisionY and VisionZ computed externally? I know the LPE can take input from visual odometry (still working on good odometry from the CV setup). What would be the best approach to achieve this?