Paparazzi UAS  v5.15_devel-61-g9c6bcf9
Paparazzi is a free software Unmanned Aircraft System.
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gps_optitrack module

Optitrack used as indoor GPS.

Uses the gps_datalink implementation, but additionally sets some other defines. Optitrack can determine the heading of a vehicle, but GPS doesn't contain heading. So as a hack optitrack sends the heading in the GPS course field.

Example for airframe file

Add to your firmware section:

1 <module name="gps_optitrack"/>

Auto-loaded modules

The following modules are automatically loaded (just as if you had added them in the airframe file)

Files

Raw gps_optitrack.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="gps_optitrack" dir="gps">
<doc>
<description>
Optitrack used as indoor GPS.
Uses the gps_datalink implementation, but additionally sets some other defines.
Optitrack can determine the heading of a vehicle, but GPS doesn't contain heading.
So as a hack optitrack sends the heading in the GPS course field.
</description>
</doc>
<autoload name="gps"/>
<autoload name="gps_datalink"/>
<autoload name="gps_nps"/>
<autoload name="gps_sim"/>
<makefile target="ap">
<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</makefile>
</module>