is it possible to use VOXL m500 fly indoor and use Motion Capture(Optitrack) as pose feedback?

[DarkKnightCH]

Hello,

I am glad that I can find such an excellent drone(VOXL m500) here. I am planning to get one and verify my algorithm by using it. But before that, could I ask a few questions?

Q1: Could this VOXL m500 be used indoor and use Motion capture to provide pose feedback? Is there anyone who implement it ? or is it possible to implement it? or does the official website provide some library function to implement it?

Q2: I have noticed that this drone have implemented GPS-denied navigation? Is it based on visual inertial odometry?

Thanks in advance

[Chad Sweet]

Q1: Yes, with some coding you could replace VIO data with motion capture data. The VIO data is sent to PX4 here

Q2: Yes, VIO is used

[DarkKnightCH]

Thank you for your reply. I have checked the code link that you shared, and Could I know the shared code runs in companion computer(based on linux) or the processor in PX4? What's more, currently I have a Motion Capture(Optitrack), and they provide a python SDK for data streaming. Is it possible that I run the python code to get the pose data of quadcopter and then integrate it with vio_manager.c ?

Another question is that is there a display device interface in companion computer(based on linux)? I really want to do programming in graphical Linux interface