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"/>

Auto-loaded modules

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

• gps module
• gps_datalink module
• gps_nps module
• gps_sim module

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>