# Vision/mocap in ECL

**URL:** <https://discuss.px4.io/t/vision-mocap-in-ecl/324>\
**Category:** Uncategorized\
**Created:** [April 12, 2016, 8:03pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324 "2016-04-12T20:03:58Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![pickledgator](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/f1d935/32.png) [@pickledgator](https://discuss.px4.io/u/pickledgator)\
**Post date:** [April 12, 2016, 8:03pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324/1 "2016-04-12T20:03:58Z")

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Are there plans to support vision or mocap updates in the ecl ekf?

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**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\
**Post date:** [January 10, 2017, 4:13pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324/2 "2017-01-10T16:13:14Z")

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I am interested to know the answer, too.

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**Author:** ![dennisss](https://discuss.px4.io/user_avatar/discuss.px4.io/dennisss/32/3541_2.png) [@dennisss](https://discuss.px4.io/u/dennisss)\
**Post date:** [January 10, 2017, 11:08pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324/3 "2017-01-10T23:08:49Z")

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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](https://github.com/dennisss/Firmware/commit/9daa99459b30a04afc513940506c5e2b1ae4b1fa)

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**Author:** ![pickledgator](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/f1d935/32.png) [@pickledgator](https://discuss.px4.io/u/pickledgator)\
**Post date:** [January 10, 2017, 11:40pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324/4 "2017-01-10T23:40:39Z")

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Yes, this thread is stale. Paul has integrated vision messages into ECL now.

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**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\
**Post date:** [January 10, 2017, 11:50pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324/5 "2017-01-10T23:50:20Z")

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Thanks guys.  
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?

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**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\
**Post date:** [January 22, 2017, 4:45pm UTC](https://discuss.px4.io/t/vision-mocap-in-ecl/324/6 "2017-01-22T16:45:48Z")

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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.