VICON_POS: SITL Vicon Position

Description

Position of the Vicon/Optitrack marker on the vehicle body frame (X, Y, Z).

Values

• Range: -5 to 5
• Units: m
• Default: 0, 0, 0

Description

This parameter simulates the offset of an external motion capture target (like Vicon or Optitrack) in the SITL simulator.

• Function: If your simulated drone has the Vicon tracking balls mounted 10cm above the center of gravity, you would set the Z component of this parameter to -0.1.
• Effect: Allows testing of offset compensation logic in the EKF external navigation drivers.