Hi folks,
I have a visual navigation system for use in (potentially) GPS-Denied navigation. I’m trying to understand the best way to integrate its results into Arducopter. I’ve read through lots of docs and forum threads, but I still have a several questions. Thanks in advance for any help you can provide!
It seems like the best method would be to pass the results of the navigation software in as a GLOBAL_VISION_POSITION_ESTIMATE. If I do that:
- Do I need to set a
VISO_TYPE? Complete Parameter List — Copter documentation If so, what value? - Do I need to adjust the EK3 sources per GPS / Non-GPS Transitions — Copter documentation? Is
GLOBAL_VISION_POSITION_ESTIMATEtreated as “ExternalNav”? - If I have both GPS and vision position estimates simultaneously, what will the estimator do? Does it prefer GPS to vision unless told otherwise? The opposite?
It seems like the other option would be to format the results of the global vision position estimate as an alternative GPS_INPUT with a different source ID. Would that work? Is there a way to force the EK3 to use one GPS or the other (apart from having the vision system claim excessive precision so the estimator favors it.
Thanks again for any help!