Using MoCap position without ROS

PX4 Autopilot
1

Hello,
After reading the setup discussion here:
https://docs.px4.io/main/en/ros/external_position_estimation.html

I have a plan to provide PX4 with position data from an Optitrack system without needing ROS.

First, setup some parameters to allow MoCap data to be used… ATT_EXT_HDG_M, LPE_FUSION

Second, create a Python program that:

  • gets rigid body position
  • reformat the position and orientation if needed
  • send ATT_POS_MOCAP message using pymavlink module
  • repeats at a furious pace

Could somebody please let me know if I am missing something?
This seems fairly straigtforward, right?

Thanks for your suggestions.