# VISION\_POSE\_ESTIMATE vs ATT\_POS\_MOCAP?

**URL:** <https://discuss.px4.io/t/vision-pose-estimate-vs-att-pos-mocap/1314>\
**Category:** Uncategorized\
**Created:** [September 26, 2016, 9:59pm UTC](https://discuss.px4.io/t/vision-pose-estimate-vs-att-pos-mocap/1314 "2016-09-26T21:59:54Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![JGSOpenSrc](https://discuss.px4.io/user_avatar/discuss.px4.io/jgsopensrc/32/436_2.png) [@JGSOpenSrc](https://discuss.px4.io/u/JGSOpenSrc)\
**Post date:** [September 26, 2016, 9:59pm UTC](https://discuss.px4.io/t/vision-pose-estimate-vs-att-pos-mocap/1314/1 "2016-09-26T21:59:54Z")

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Hi everyone!

I’m confused about the difference between the two mavlink messages from the topic name. I have a vicon system connected to mavros via vicon\_bridge and I have managed to send the VISION\_POSE\_ESTIMATE messages to my pixhawk by editing the px4\_configs.yaml file in mavros.

I am unsure if I have done the right thing, since there is a mavlink message dedicated to mocap systems (ATT\_POS\_MOCAP). Should I be using the mocap plugin, or the vision\_pose\_estimate plugin?

Also, I haven’t figured out how to make mavros send the ATT\_POS\_MOCAP messages using the data published by vicon\_bridge. I tried setting the mocap parameter `use_tf` to true, but it does not appear that there is data being published to mocap/tf.

I noticed that the vision\_pose\_estimate feature requires strings that specify the frame and child id of the tf frames, while there are no equivalent parameters for mocap feature of mavros. This is somewhat confusing! Please help!

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**Author:** ![TobiasM](https://discuss.px4.io/user_avatar/discuss.px4.io/tobiasm/32/3881_2.png) [@TobiasM](https://discuss.px4.io/u/TobiasM)\
**Post date:** [October 13, 2016, 2:53pm UTC](https://discuss.px4.io/t/vision-pose-estimate-vs-att-pos-mocap/1314/2 "2016-10-13T14:53:06Z")

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in my opinion the mocap/vision thing is confusing.

Is there any info about what the flightcontroller is using after activation the feature? for example. is the FCU using the gyro when you send him roll, pitch yaw? is there a weighting between vision position and FCU with Flow?