利用视觉或运动捕捉系统进行位置估计 | PX4 Guide (main)
Once aligned you can pick the vehicle up from the ground and you should see the position's z coordinate decrease. Moving the vehicle in forward direction, should increase the position's x coordinate. While moving the vehicle to the right should increase the y coordinate.
将飞机朝北放置,再运行t265和vision_to_mavros。可以看到航向没有大的变动。如果朝其他方向放置,再运行t265和vision_to_mavros,看到航向在飘,这是错误的。
坐标系对齐, 向上,z降。 向前,x+; 向右, y+
视觉惯性里程计(VIO) | PX4 自动驾驶用户指南 (v1.12)