position mode through mocap

[roseyangyu]

I use 1.8.2/1.9.0 firmware, v2 and v5 flight control. LPE is not used. I want to locate through MoCap. The accuracy of the mocap raw data is millimeter level. I sent the position to flight control via VISION_POSITION_ESTIMATE. Vehicle can enter position mode at rest, but when vehicle fly up, it can't hover accurately. I looked at Local_position's data with a QGC. The x,y axis occasionally mutates to more than 10 meters, with a greater change in height, generally changing at dozens of meters, and occasionally larger to more than 100 meters. How can I debug to make the plane hover steadily?

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[julianoes]

You need to add a logfile, otherwise it's hard to see what's going on.

[roseyangyu]

There was no unlocking during testing because local_position displayed unreliable data.But I change mavlink_message.I send mocap rather than vision.Then I adjust mocap coordinate system to NED and turn PID.Vehicle can position well.

[julianoes]

Ok thanks for the answer. Sounds like the issue is resolved and I can close it. Please re-open if the issue comes back.

[roseyangyu]

OK,Thank you for your attention