I am looking for help on integrating Vicon pose estimation into the PX4 firmware to multirotor control development. I’ve read several posts and the PX4 DevGuide however I can’t seem to find a complete step-by-step guide on how to integrate the Vicon pose.
Background on my setup:
Using PX4 firmware release v1.4.1 and LPE instead of the EKF. Using ROS vicon_bridge package to output Vicon pose transform on topic /vicon/quad1/quad1. When I launch the mavros node I am remapping the /mavros/mocap/tf topic to the /vicon/quad1/quad1 transform topic.
According to the DevGuide External Position Page I should set parameters CBRK_NO_VISION to 0 and ATT_EXT_HDG_M to 2 for mocap heading use. However when connecting the to QGroundControl in firmware release v1.4.1 there is no CBRK_NO_VISION parameter.
With the setup running I am able to see that the /mavros/local_position/pose topic outputs the correct orientation when compared to the Vicon orientation but moving the quad does not change the /mavros/local_position/pose position (it effectively stays at the origin even though the Vicon position is changing).
Any help understanding the Vicon integration would be greatly appreciated