Vicon¶
module load vicon
vicon set
vicon start
This module connects to a Vicon motion tracking system and sends position data to the UAV. For more information on how to integrate the Vicon system with ArduPilot, see here.
The module has the following settings, which via be set via vicon set.
Setting |
Description |
Default |
|---|---|---|
host |
IP Address or hostname of Vicon server |
vicon |
origin_lat |
Latitude of the Vicon world frame. |
-35.363261 (Canberra Model Aero Club Runway) |
origin_lon |
Longitude of Vicon world frame |
149.165230 |
origin_alt |
Altitude of Vicon world frame |
584.0 m |
vision_rate |
Rate to send VISION_ESTIMATE messages |
14 Hz |
vel_filter_hz |
Velocity Filter cutoff frequency |
30 Hz |
gps_rate |
Rate to send GPS_INPUT messages |
5 Hz |
gps_nsats |
Number of satellites to report in the simulated GPS message |
5 |
object_name |
Name of the object you want to track in the Vicon Tracker software |
None |
By default, the module will auto-detect the first object that is found by the Vicon system. If you have other objects in the space that you don’t want to be detected, you can set the object_name parameter.