mocap: add SetVisionSpeedEstimate #361
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Co-authored-by: miodine <[email protected]>
| // Global speed estimate from a vision source. | ||
| message VisionSpeedEstimate { | ||
| uint64 time_usec = 1; // PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp) | ||
| SpeedBody speed_body = 2; // Global speed (m/s) |
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Just wondering on the frame here? When you see "Global" do you mean in North, East, Down, or Forward, Left, Down? I'm pretty sure "Body" would imply in body frame, so Forward, Left, Down.
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Hi @julianoes! Thanks for the review!
I used the same description as in the MAVLink doc, but I guess this is a typo.
However, I see in the VisionPositionEstimate a similar case:
PositionBody position_body = 2; // Global position (m)
Should I fix it too?
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Interesting. Might be worth checking what PX4 expects and whether we should update the MAVLink messages description.
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For position, PX4 expects NED:
I don't see vision speed being used in PX4. How are you testing this?
Hi, we would like to add the VISION_SPEED_ESTIMATE (103) MAVLink message to the mocap proto.
See https://mavlink.io/en/messages/common.html#VISION_SPEED_ESTIMATE
Relates to issue mavlink/MAVSDK#2497