What is exactly VISION_POSITION_DELTA

ArduCopter
,
1

Hi,
Since version 3.5-rc5 03-May-2017, VISION_POSITION_DELTA has been supported. I have several questions about it please:

  1. I should send this message at each new frame describing the differences between the current frame and the previous frame. However, what if loop closure was detected and huge difference was introduced. Would it still valid to send this huge difference?

  2. Will the values sent by this message fused into the EKF along with IMU and other sensors?

  3. Is there any special flag or piloting mode should I set before be able to use this message?

Thank you very much!