Hello there, I’m using a motion capture system as pose estimation. I’d like to set mocap pose as ground truth for quadrotor, but failed.
First, I relay the mocap pose topic to /mavros/vision_pose/pose.
Second, set EKF2_AID_MASK=24, EKF2_GHT_MODE=vision:
My drone can switch to position mode and takeoff, however, there is still a difference in /mavros/vision_pose/pose and /mavros/local_position/pose, where the vision pose is actually the mocap pose.
I’m using PX4-Autopilot 1.13.0 and Pixhawk 6c mini, QGC 4.4.2.
Thank you for any advice and suggestions.