This is made using aruco_mavconn sending GPS_INPUT message with pose and velocity.
On the 3 inch Copter there is a revo-mini, a Raspberry Pi zero and a Raspberry Pi Cam.
The video is streamed to a PC where is running aruco_mavconn via WiFi. So, because of relatively high latency, position control is not optimal.
Landing on end of the video is because of battery failsafe.
Next test:
- another 3 inch Copter with Raspberry Pi 3 and Raspberry Pi Cam so that the position control loop is closed on board (no problem of WiFi latency);
- another 5 inch Copter with Raspberry Pi 3 and T265.