Setting EKF2 Estimator for MOCAP Fusion

• First choose ekf2 as your estimator from the System tab also make sure the you set the baudrate correctly SYS_COMPANION
• In the EKF2 parameters tab, set EKF2_AID_MASK to not use GPS, and use vision position and yaw.
• There are some delay parameters that need to set properly, because they directly affect the EKF estimation. For more information read this wiki
• choose the hight mode to be vision
• Set the position of the center of the markers (that define the rigid body in the mocap system) with respect to the center of the flight controller. +x points forward, +y right, +z down