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

Source: https://forum.modalai.com/topic/300/is-it-possible-to-use-voxl-m500-fly-indoor-and-use-motion-capture-optitrack-as-pose-feedback
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: m500
Posted: 2021-06-25 21:01:16 UTC by DarkKnightCH
Replies: 2 · Views: 950

## DarkKnightCH · 2021-06-25 21:01:16 UTC

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

## Reply by Chad Sweet (ModalAI staff) · 2021-06-25 21:39:44 UTC

Q1: Yes, with some coding you could replace VIO data with motion capture data. The VIO data is sent to PX4 [here](https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/vio_manager.c#L199)

Q2: Yes, VIO is used

## Reply by DarkKnightCH · 2021-07-31 23:41:46 UTC

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