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.