Visual position estimate and offboard control

[bschulzhf]

I am new to VOXL development and am working on an application that will provide a VISION_POSITION_ESTIMATE mavlink message to the autopilot and control the aircraft via OFFBOARD commands. The application will run on the VOXL. I am currently reading frames from the MPA, synchronizing with metadata from MPA, and computing a vision based position estimate. However, I am struggling with how to get that position estimate to the autopilot and how to configure the autopilot to receive them.

• Do I use the mavlink_onboard pipe to send the mavlink offboard control commands (ex. SET_ATTITUDE_TARGET) and VISION_POSITION_ESTIMATE messages?
• Are there instances where I should communicate over UDP with the autopilot or are all comms done through MPA?
• Is there example code to follow with instructions on any internal routing or other setup?

Thanks

[Eric Katzfey]

@bschulzhf Take a look at the voxl-vision-hub code. Specifically the vio manager: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/dev/src/vio_manager.c?ref_type=heads