Setting LPE Estimator for MOCAP Fusion

You will need to set some parameters on Pixhawk as follows

  • Select LPE as your estimator. You can change that from the System tab in QGroundControl.
  • You will also need to use the highest baud rate for the serial connection. See below picture.
  • Use heading from mocap. Adjust the ATT_EXT_HDG_M parameter as follows
  • You will need to set the LPE_FUSION parameter to not to use GPS and not to use barometer, since most likely your mocap altitude is highly accurate. See following picture.
  • Also, disable any altitude sensor e.g. LIDAR
  • Restart Pixhawk

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