This is essentially bumping Apriltag landing fixed frame ROS interface, How can I see the apriltag offset in ROS, and How can I get fixed pose via qgc or ros topics.
I can perform apriltag relocalization and see that it is working correctly via voxl-vision-px4 -p or other voxl means, but both /mavros/local_position/pose and /qvio/pose report position in local frame. I understand that I can issue commands in fixed frame to then be corrected by mavros en route the PX4, but this is only useful in ROS/QGC if my fixed and local frames are roughly equivalent (so using relocalization to correct for drift, but not to initialize position).
Thanks!
For reference, my platform is an m500 with VOXL1:
Firmware: 1.13.2, Custom Fw. Ver. 0.1.1
system-image: 4.0.0
kernel: #1 (closed) SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
hw version: VOXL
voxl-suite: 0.9.4
and my parameter file is:
MAVLINK IO
qgc_udp_port_number: 14550
udp_mtu: 512
en_localhost_mavlink_udp 1
localhost_udp_port_number: 14551
VIO
en_vio: 1
vio_pipe: qvio
en_send_vio_to_qgc: 0
en_reset_vio_if_initialized_inverted: 1
vio_warmup_s: 3.000000
send_odom_while_failed: 0
APQ8096-ONLY FEATURES
en_set_clock_from_gps: 1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error: 1
MISC FEATURES
horizon_cal_tolerance: 0.500000
OFFBOARD MODE
offboard_mode: off
follow_tag_id: 0
figure_eight_move_home: 1
robot_radius: 0.300000
collision_sampling_dt: 0.100000
max_lookahead_distance: 1.000000
FIXED FRAME RELOCALIZATION
en_tag_fixed_frame: 1
fixed_frame_filter_len: 5
en_transform_mavlink_pos_setpoints_from_fixed_frame:1