Are there plans to support vision or mocap updates in the ecl ekf?
I am interested to know the answer, too.
I believe that vision is already supported via vision_position_estimate messages.
Regarding mocap, I wrote the following code around a month ago to make it work. It should use att_pos_mocap messages but currently is incomplete as it still uses the vision parameters for noise variances. (Not in the main PX4 repo yet as I haven’t had too much time to test it yet) https://github.com/dennisss/Firmware/commit/9daa99459b30a04afc513940506c5e2b1ae4b1fa
Yes, this thread is stale. Paul has integrated vision messages into ECL now.
So is it the latest stable version, 1.5.3? Or master?
Also, I am using mavros. So, it has mocap pose plugin, and mocap fake gps plugin. Would any of these work with EKF2?
What are the settings in order for this thread/commit work?
Do I need to set certain parameters in QGC?
I am sending the ATT_POS message outside MAVROS, but verified to work on old versions.