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The LPE estimator does not work very well on Aero, please stick with EKF2. I've only tested vision position estimate with a "Poxyz-like" indoor positioning system, but yaw estimate should work if you're using a system that provides yaw data.
Instead of using VISION_POSITION_ESTIMATE, please try ATT_POS_MOCAP along with the patch from this px4 thread: Indoor positioning (fake gps) with EKF2 - PX4 Discuss
Were you able to use position control with the drone using ATT_POS_MOCAP with EKF2 (and the patch)?
I am trying to build an autonomous drone with visual odometry (SVO 2.0) and was wondering if this is the right path.