I need to fly ErleBrain 3 (currently using APM) without GPS only using Vicon data(Motion Capture). What are necessary steps for the same ?
1. Use the /mavros/fake_gps/fix to publish transformed vicon data with the GPS_TYPE param set to MAV (default AUTO): Tried this one, didn't work for me
2. Use GPS_TYPE as HIL/MTK19, and corresponding changes
3. Use px4 instead of apm: Tried this one, px4 is running. However, its generating huge logs which is leading to Out of memory error. Unable to connect to GCS as well.
Have read a lot of posts for this issue. No one seemed make it work using 1 and 3 for Erle Brain 3. It has worked for Intel Aero.