# Local positioning using vision\_position\_estimate from onboard VIO

**URL:** <https://discuss.bluerobotics.com/t/local-positioning-using-vision-position-estimate-from-onboard-vio/9286>\
**Category:** General Discussion\
**Tags:** ardusub, positioning\
**Created:** [March 17, 2021, 7:30am UTC](https://discuss.bluerobotics.com/t/local-positioning-using-vision-position-estimate-from-onboard-vio/9286 "2021-03-17T07:30:33Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![thomas\_k](https://avatars.discourse-cdn.com/v4/letter/t/9d8465/32.png) [@thomas\_k](https://discuss.bluerobotics.com/u/thomas_k)\
**Post date:** [March 17, 2021, 7:30am UTC](https://discuss.bluerobotics.com/t/local-positioning-using-vision-position-estimate-from-onboard-vio/9286/1 "2021-03-17T07:30:33Z")

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Can the Ardusub firmware process mavlink message of type vision\_position\_estimate. I have an onboard VIO system that produces position estimates, which is then published over mavros, as discussed [here](https://discuss.ardupilot.org/t/integration-of-ardupilot-and-vio-tracking-camera-part-2-complete-installation-and-indoor-non-gps-flights/43405). But the sent mavlink message can’t be found in the mavlink inspector. Does ardusub support mavlink messages of type [vision\_position\_estimate](https://mavlink.io/en/messages/common.html#VISION_POSITION_ESTIMATE)?