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MoCap Clover
  • 🌎Introduction
    • Motion Capture System with Clover
  • Meet the team!
  • ⚙️Hardware
    • Motion Capture Setup: OptiTrack
      • Motive: The Basics
      • Camera Calibration
      • Marker Placement
      • Rigid Body Tracking and Data Streaming
  • 🛰️Data Transfer
    • Feeding Pose Data into ROS on Raspberry Pi
      • Network Topology and Raspberry Pi Configuration
      • VRPN ROS Package
      • ROS Network
    • Feeding Pose Data to PX4
      • EKF2 Configuration
      • LPE Configuration
      • Remapping Pose Data to PX4
      • EKF2 and LPE Tuning and Consistancy
  • 🚀Examples
    • Flight Tests
      • Offboard Control Overview
      • Complex Trajectory Tracking
        • MAVLink Interface Definitions
        • Code Details
        • Feedforward Simple Offboard
    • Auto-Tuning
      • Auto-Tune Parameter
  • 🤖Conclusions
    • Conclude MoCap Clover
  • 🚧Hardware in the Loop Simulations
    • HITL and SITL Background
    • PX4 Configuration Through QGC
    • Launching the Clover Simulator in HITL Mode for HITL Simulations
    • Configure Clover Platform
  • Miscellanous
    • Working with NatNet SDK
    • Feeding Pose Data into Matlab
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  1. Data Transfer
  2. Feeding Pose Data to PX4

LPE Configuration

This page gives a brief outline on parameter setting for the LPE estimator.

A basic outline for the parameter setup required to use the LPE estimator with the MoCap will be presented in this section.

It is said that LPE can accept MoCap data directly on the mocap mavros topics, although it will be remapped the same way as the ekf2 where it is accepted on the mavros vision topic.

  • First choose LPE as the estimator from the Systems tab by setting SYS_MC_EST_GROUP = local_position_estimator

  • In the LPE parameter tab, set LPE_FUSION to vision position where the MoCap will be the Clovers source for position estimates. No other source is needed in this setup.

  • Use the heading from the MoCap by setting the ATT_EXT_HDG_M to 'vision' where the mocap data is streamed on the mavros vision topic.

  • It is a good idea to disable the use of the magnetometer when using the LPE for indoor flight as it may interfere with the external vision pose provided by the MoCap. This can be done by setting the ATT_W_MAG parameter to 0 bit which disables magnetometer use for orientation estimation.

  • Another sensor to be aware of is the laser rangefinder. The altitude will be provided by the MoCap so this can be disabled in the clover.launch file or just disable altitude sensors such as LIDAR with the following PX4 parameters:

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Last updated 2 years ago

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