Add SteamVR module for tracking #779
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| # send origin at 1Hz | ||
| mav.mav.set_gps_global_origin_send(self.target_system, | ||
| int(self.vr_settings.origin_lat*1.0e7), |
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I thought this only had to be sent once?
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It only has to be received once, I guess this is easier than trying to tell. This is completely left over from the Vicon stuff.
| fix_type = 3 | ||
| else: | ||
| fix_type = 1 | ||
| mav.mav.gps_input_send(time_us, 0, 0, gps_week_ms, gps_week, fix_type, |
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Why does gps_input need to be sent if you're also sending global_vision_position_estimate?
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It just gives the option, by default the gps stream rate is 0
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I have made this a good deal more robust, stop and start work properly now, the only way I have found to break it is to shut steam vr while its being used. I think this is more due to issues with PyOpenVR than this. SteamVR does give a 'are you sure python still running' warning so I don't think its a disaster. |
This adds a module that reads in the pose from a SteamVR Tracker using PYopenVR. The tracker provides position, velocity, attitude and attitude rate at 144HZ. This is then dished out in GPS or VISION messages at a set rate.
https://youtu.be/P7J486V5__A
My first MAVProxy PR and also my first proper bash as Python so apologies for any mistakes.
I ended up using a OpenVR example code to go from the provided matrix to roll pitch and yaw. I couldn't workout the ordering to use the existing one.
I will do a better vid explaining how to setup in the next day or so.