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:

<module name="gps_optitrack"/>

Files

Raw gps_optitrack.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="gps_optitrack" dir="gps" task="sensors">
  <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>
  <dep>
    <depends>gps_datalink</depends>
    <provides>gps</provides>
  </dep>
  <makefile target="ap">
    <define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
    <test/>
  </makefile>
</module>