Fuses data from VSLAM Sonar and IMU to provide metric state measurements on the Nayan quadcopter platform. More details on the Nayan quadcopter can be found on nayan_wiki

• v0.1 - works with v0.1 of nayan_slave_firmware and present in nayan_v2015 branch Does not work with mavros version after Mar 2016
• v0.2.2 - Last tested version of code on Nayan-NUC, Inforce, Odroid boards. Works with v0.2 of nayan_slave_firmware and the master branch

This package contains the following modules

This performs the main fusion and links up all different units. Running Position fusion on OBC

      roslaunch cv_sens sensor_fusion.launch

A few plugins have been written for mavros which provide extra debug variables on the Onboard computer when connecting to the flight control unit and communicating via mavlink interface Communication between Slave and OnBoard Computer

      roslaunch cv_sens nayan_slave.launch

rosrun cv_sens setpoint_enu _x:=-1 _y:=-1 _z:=-1

rosrun cv_sens dummy_visionpose_publisher