VISO parameters¶

11 parameters in the VISO family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

VISO_DELAY_MS¶

Visual odometry sensor delay

Visual odometry sensor delay relative to inertial measurements

Units	`ms`
Range	`0` to `250`
User level	Advanced

VISO_ORIENT¶

Visual odometery camera orientation

Visual odometery camera orientation

User level

Advanced

Values¶

Value	Meaning
`0`	Forward
`2`	Right
`4`	Back
`6`	Left
`24`	Up
`25`	Down

VISO_POS_M_NSE¶

Visual odometry position measurement noise

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

Units	`m`
Range	`0.1` to `10.0`
User level	Advanced

VISO_POS_X¶

Visual odometry camera X position offset

X position of the camera in body frame. Positive X is forward of the origin.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

VISO_POS_Y¶

Visual odometry camera Y position offset

Y position of the camera in body frame. Positive Y is to the right of the origin.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

VISO_POS_Z¶

Visual odometry camera Z position offset

Z position of the camera in body frame. Positive Z is down from the origin.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

VISO_QUAL_MIN¶

Visual odometry minimum quality

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

Units	`%`
Range	`-1` to `100`
User level	Advanced

VISO_SCALE¶

Visual odometry scaling factor

Visual odometry scaling factor applied to position estimates from sensor

User level

Advanced

VISO_TYPE¶

Visual odometry camera connection type

Visual odometry camera connection type

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values¶

Value	Meaning
`0`	None
`1`	MAVLink
`2`	IntelT265
`3`	VOXL(ModalAI)

VISO_VEL_M_NSE¶

Visual odometry velocity measurement noise

Visual odometry velocity measurement noise in m/s

Units	`m/s`
Range	`0.05` to `5.0`
User level	Advanced

VISO_YAW_M_NSE¶

Visual odometry yaw measurement noise

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

Units	`rad`
Range	`0.05` to `1.0`
User level	Advanced