package mavsdk.rpc.mocap

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Allows interfacing a vehicle with a motion capture system in order to allow navigation without global positioning sources available (e.g. indoors, or when flying under a bridge. etc.).

• rpc SetAttitudePositionMocap (SetAttitudePositionMocapRequest, SetAttitudePositionMocapResponse)

  mocap.proto:21

  Send motion capture attitude and position.

  message SetAttitudePositionMocapRequest

  mocap.proto:40

  • optional AttitudePositionMocap attitude_position_mocap = 1

    The attitude and position data

  message SetAttitudePositionMocapResponse

  mocap.proto:43

  • optional MocapResult mocap_result = 1

• rpc SetOdometry (SetOdometryRequest, SetOdometryResponse)

  mocap.proto:23

  Send odometry information with an external interface.

  message SetOdometryRequest

  mocap.proto:47

  • optional Odometry odometry = 1

    The odometry data

  message SetOdometryResponse

  mocap.proto:50

  • optional MocapResult mocap_result = 1

• rpc SetVisionPositionEstimate (SetVisionPositionEstimateRequest, SetVisionPositionEstimateResponse)

  mocap.proto:17

  Send Global position/attitude estimate from a vision source.

  message SetVisionPositionEstimateRequest

  mocap.proto:26

  • optional VisionPositionEstimate vision_position_estimate = 1

    The vision position estimate

  message SetVisionPositionEstimateResponse

  mocap.proto:29

  • optional MocapResult mocap_result = 1

• rpc SetVisionSpeedEstimate (SetVisionSpeedEstimateRequest, SetVisionSpeedEstimateResponse)

  mocap.proto:19

  Send Global speed estimate from a vision source.

  message SetVisionSpeedEstimateRequest

  mocap.proto:33

  • optional VisionSpeedEstimate vision_speed_estimate = 1

    The vision speed estimate

  message SetVisionSpeedEstimateResponse

  mocap.proto:36

  • optional MocapResult mocap_result = 1

Body angle type

Used in: VisionPositionEstimate

• float roll_rad = 1

  Roll angle in radians.

• float pitch_rad = 2

  Pitch angle in radians.

• float yaw_rad = 3

  Yaw angle in radians.

Angular velocity type

Used in: Odometry

• float roll_rad_s = 1

  Roll angular velocity in radians/second.

• float pitch_rad_s = 2

  Pitch angular velocity in radians/second.

• float yaw_rad_s = 3

  Yaw angular velocity in radians/second.

Motion capture attitude and position

Used in: SetAttitudePositionMocapRequest

• uint64 time_usec = 1

  PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

• optional Quaternion q = 2

  Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)

• optional PositionBody position_body = 3

  Body Position (NED)

• optional Covariance pose_covariance = 4

  Pose cross-covariance matrix.

Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Needs to be 21 entries or 1 entry with NaN if unknown.

Used in: AttitudePositionMocap, Odometry, VisionPositionEstimate, VisionSpeedEstimate

• repeated float covariance_matrix = 1

  The covariance matrix

Result type.

Used in: SetAttitudePositionMocapResponse, SetOdometryResponse, SetVisionPositionEstimateResponse, SetVisionSpeedEstimateResponse

• MocapResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for mocap requests

Used in: MocapResult

• RESULT_UNKNOWN = 0

  Unknown error

• RESULT_SUCCESS = 1

  Request succeeded

• RESULT_NO_SYSTEM = 2

  No system is connected

• RESULT_CONNECTION_ERROR = 3

  Connection error

• RESULT_INVALID_REQUEST_DATA = 4

  Invalid request data

• RESULT_UNSUPPORTED = 5

  Function unsupported

Odometry message to communicate odometry information with an external interface.

Used in: SetOdometryRequest

• uint64 time_usec = 1

  Timestamp (0 to use Backend timestamp).

• Odometry.MavFrame frame_id = 2

  Coordinate frame of reference for the pose data.

• optional PositionBody position_body = 3

  Body Position.

• optional Quaternion q = 4

  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).

• optional SpeedBody speed_body = 5

  Linear speed (m/s).

• optional AngularVelocityBody angular_velocity_body = 6

  Angular speed (rad/s).

• optional Covariance pose_covariance = 7

  Pose cross-covariance matrix.

• optional Covariance velocity_covariance = 8

  Velocity cross-covariance matrix.

• uint32 reset_counter = 9

  Estimate reset counter. Increment when the estimate resets or jumps.

• Odometry.MavEstimatorType estimator_type = 10

  Type of estimator that is providing the odometry.

• int32 quality_percent = 11

  Optional odometry quality in percent. -1 = failed, 0 = unknown/unset, 1 = worst, 100 = best.

Estimator type, matching MAVLink MAV_ESTIMATOR_TYPE.

Used in: Odometry

• MAV_ESTIMATOR_TYPE_UNKNOWN = 0

  Unknown estimator type.

• MAV_ESTIMATOR_TYPE_NAIVE = 1

  Naive estimator.

• MAV_ESTIMATOR_TYPE_VISION = 2

  Computer vision-based estimate.

• MAV_ESTIMATOR_TYPE_VIO = 3

  Visual-inertial estimate.

• MAV_ESTIMATOR_TYPE_GPS = 4

  Plain GPS estimate.

• MAV_ESTIMATOR_TYPE_GPS_INS = 5

  GPS and inertial navigation estimate.

• MAV_ESTIMATOR_TYPE_MOCAP = 6

  Motion capture estimate.

• MAV_ESTIMATOR_TYPE_LIDAR = 7

  Lidar estimate.

• MAV_ESTIMATOR_TYPE_AUTOPILOT = 8

  Autopilot estimate.

Mavlink frame id

Used in: Odometry

• MAV_FRAME_MOCAP_NED = 0

  Legacy mocap NED frame. Deprecated in MAVLink and replaced by MAV_FRAME_LOCAL_FRD.

• MAV_FRAME_LOCAL_FRD = 1

  Local FRD frame (x: forward, y: right, z: down).

Body position type

Used in: AttitudePositionMocap, Odometry, VisionPositionEstimate

• float x_m = 1

  X position in metres.

• float y_m = 2

  Y position in metres.

• float z_m = 3

  Z position in metres.

Quaternion type. All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk. For more info see: https://en.wikipedia.org/wiki/Quaternion

Used in: AttitudePositionMocap, Odometry

• float w = 1

  Quaternion entry 0, also denoted as a

• float x = 2

  Quaternion entry 1, also denoted as b

• float y = 3

  Quaternion entry 2, also denoted as c

• float z = 4

  Quaternion entry 3, also denoted as d

Speed type, represented in the Body (X Y Z) frame and in metres/second.

Used in: Odometry

• float x_m_s = 1

  Velocity in X in metres/second.

• float y_m_s = 2

  Velocity in Y in metres/second.

• float z_m_s = 3

  Velocity in Z in metres/second.

Speed type, represented in NED (North East Down) coordinates.

Used in: VisionSpeedEstimate

• float north_m_s = 1

  Velocity North in metres/second.

• float east_m_s = 2

  Velocity East in metres/second.

• float down_m_s = 3

  Velocity Down in metres/second.

Global position/attitude estimate from a vision source.

Used in: SetVisionPositionEstimateRequest

• uint64 time_usec = 1

  PositionBody frame timestamp UNIX Epoch time (0 to use Backend timestamp)

• optional PositionBody position_body = 2

  Global position (m)

• optional AngleBody angle_body = 3

  Body angle (rad).

• optional Covariance pose_covariance = 4

  Pose cross-covariance matrix.

• uint32 reset_counter = 5

  Estimate reset counter. Increment when the estimate resets or jumps.

Global speed estimate from a vision source.

Used in: SetVisionSpeedEstimateRequest

• uint64 time_usec = 1

  Timestamp UNIX Epoch time (0 to use Backend timestamp)

• optional SpeedNed speed_ned = 2

  Global speed (m/s)

• optional Covariance speed_covariance = 3

  Linear velocity cross-covariance matrix.

• uint32 reset_counter = 4

  Estimate reset counter. Increment when the estimate resets or jumps.