How to provide vision-based pose (like optical flow) to PX4 over UART using raspberry pi

PX4 Autopilot
1

Hi,

I’m trying to provide vision-based pose information to PX4 over UART, similar to how optical flow or external estimators work.

My setup:

  • Intel Realsense D435i → Raspberry Pi 5
  • Raspberry Pi 5 ↔ Pixhawk via UART (TELEM2 port)

I’d appreciate guidance on:

  1. How to send pose information (e.g., local position or velocity) to PX4 over MAVLink via UART
  2. How to configure PX4 v1.15.4 to use and fuse this type of external input

I’m not using GPS in this setup and plan to rely on the external feed for local positioning.

Thanks in advance!

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