The official PX4 manual provides the VIO function package of Auterion (I have already forked) https://github.com/Auterion/VIO
https://blog.csdn.net/sinat_16643223/article/details/114217230
The APM official manual provides the vision_to_mavros function package (I already fork) (I should have a blog post to record this APM official manual on this aspect)
https://blog.csdn.net/sinat_16643223/article/details/108752291
The following person's blog is also mentioned.
In fact, it may really be as mentioned below. Just install two and one. It is not that the VIO officially given by PX4 can only be used for PX4. The official vision_to_mavros given by APM can only be used for APM. Actually, it is the PX4 used by Amu. But vision_to_mavros is used in px4_commander, so the functions of the two function packages should be the same, and it should work for PX4 and APM. At least I currently use vision_to_mavros on APM, and vision_to_mavros has also seen Amu use it on PX4.
And now that you understand the nature of the feature pack (see this blog post: https://blog.csdn.net/sinat_16643223/article/details/114082465 ), you should now be able to flexibly install and use these two feature packs yourself.
https://blog.csdn.net/fcts1230/article/details/107958708?spm=1001.2014.3001.5501
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