How can I correct the LOCAL_POSITION_NED from an external vision system

@HumamHelfawiOptecks wrote:

Hi,
I built an external position estimation vision based system for a drone that runs Ardupilot.

As far as I know, MAVLINK_MSG_ID_LOCAL_POSITION_NED returns the position of the drone. However, this position is depending on the internal position estimation systems (GPS, IMU, optical flow...).

How can I send to Ardupilot my results from the external position estimation I made to replace those values? or to fuse those values into the EKF that Ardupilot uses internally?

Thanks!

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