HELP PLEASE! PX4 + Raspberry Pi + Optitrack Motive Tracker

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I have a Pixhawk PX4 2.4.8, Raspberry Pi 3 B, the Optitrack Motive Tracker program on desktop, and an indoor Real Time Locating System (RTLS) with cameras tracking the position of attachable locating spheres. This is for a school project, and I am trying to make them all communicate. Any help at all would be fantastic!

I will be mounting the Pixhawk and Raspberry Pi onto a quad copter’s frame and using a nearby modem and desktop (with Motive Tracker program running) to tell the Pixhawk where to move in the fixed RTLS.

If you could possibly give a “how to” explanation that would be great. If you have any questions or comments please let me know!

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I think the first step is to get communication between the Raspberry Pi and the Pixhawk going. I’ve you’re planning to work with ROS, I would look into MAVROS, if not, then you should check out MAVSDK. There was recently a plugin added to MAVSDK which enables mocap input (https://mavsdk.mavlink.io/develop/en/index.html).
There should be something similar for MAVROS as well.

Once you have a position estimate in PX4 you can look into how to control your vehicle offboard.

Make sure to read about about this:
https://dev.px4.io/master/en/index.html?q=mocap
https://dev.px4.io/master/en/index.html?q=offboard

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