Height Estimation and Marker Detection

Package Description

The package is aimed at estimating orientation and height using IMU and px4flow Extended Kalman Filter fusion. The other part of the package deals with detection of QR codes and barcodes.

Package Outline

The package has four source files:

1. main.cpp: Contains two threads. One for height and attitude estimation other for marker detection.
2. kalman.cpp: EKF fusion of IMU and px4flow for attitude and height estimation.
3. sonar.cpp: A median filter for sonar outlier rejection.
4. marker.cpp: Barcode and QR marker detector.

Px4 Offboard vision controller

The px4 allows external vision estimates through /mavros/vision_pose/pose topic for offboard control. To enable More information on offboard mode can be found at PX4 Offboard control.