Skip to content

MAVLink Motion Capture (MavLinkMoCap)#

This folder contains the MavLinkMoCap library which connects to an OptiTrack camera system for accurate and precise indoor location.

Dependencies:#

Setup RigidBody#

First, you need to define a RigidBody named 'Quadrocopter' using Motive. See Rigid_Body_Tracking.

MavLinkTest#

Use MavLinkTest to talk to your PX4 drone, with -server:addr:port, for example, when connected to drone wifi use:

  • MavLinkMoCap -server:10.42.0.228:14590 "-project:D:\OptiTrack\Motive Project 2016-12-19 04.09.42 PM.ttp"

This publishes the ATT_POS_MOCAP messages and you can proxy those through to the PX4 by running MavLinkTest on the dronebrain using:

  • MavLinkTest -serial:/dev/ttyACM0,115200 -proxy:10.42.0.228:14590

Now the drone will get the ATT_POS_MOCAP and you should see the light turn green meaning it is now has a home position and is ready to fly.