Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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>