examples: add vision odometry example#820
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This was referenced Mar 10, 2026
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Add a practical example showing how to send visual odometry data to PX4 via the Mocap plugin's Odometry message. Demonstrates connecting to PX4 SITL, configuring EKF2 for vision fusion (EKF2_EV_CTRL, EKF2_HGT_REF), sending ODOMETRY at 30 Hz, and monitoring health to verify fusion is active.
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Rewrites the vision odometry example to use a ground truth feedback approach: reads the drone's actual position in simulation, adds configurable noise and delay, and feeds it back as vision odometry. The drone takes off and hovers while the VIO feed runs, showing real-time EKF2 fusion status. Uses new Odometry fields (reset_counter, estimator_type, quality) from MAVSDK-Proto PR mavlink#395 / MAVSDK PR #2791. Includes a startup validation that prints a clear error if these fields are not yet available. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The vision odometry example now does NOT arm, takeoff, or control the drone. It only feeds VIO data. The user flies the drone however they like (QGroundControl, RC, mission, another script) while this runs alongside. Press Ctrl+C to stop. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Match proto field rename from MAVSDK-Proto PR mavlink#395 review feedback. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Thanks for the review Jonas! Just pushed a small update renaming |
julianoes
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Good to be merged? The todos in the PR description aren't ticked, so I'm not so sure.
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Hey Juliano, not yet. You are right that the description there was stale, thanks for flagging it. I just cleaned that up. This example is waiting on the fresh proto PR ( |
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Summary
Adds a vision odometry example that feeds simulated VIO data to PX4 using the MAVSDK Mocap plugin, for testing and education.
This script does NOT arm, takeoff, or control the drone. It only feeds VIO data in the background. You fly the drone however you like (QGroundControl, RC, mission, or another MAVSDK script) while this runs alongside.
Current status
This PR is not merge-ready yet.
It is waiting on the fresh upstream mocap path:
The earlier dependency chain in this PR description was stale:
After the proto/C++ path is settled, this example still needs one final pass and verification before it should be merged.
Planned follow-up for this PR
Test plan
Pending the upstream mocap proto/C++ path.