# 使用视觉或运动捕捉系统

## LPE Tuning for Vision or Mocap

### 使能外部位姿输入

#### Disabling barometer fusion

If a highly accurate altitude is already available from vision or mocap information, it may be useful to disable the baro correction in LPE to reduce drift on the Z axis.

There is a bit field for this in the parameter LPE_FUSION, which you can set from QGroundControl. Just uncheck "fuse baro".

#### Tuning noise parameters

If your vision or mocap data is highly accurate, and you just want the estimator to track it tightly, you should reduce the standard deviation parameters, LPE_VIS_XY and LPE_VIS_Z (for vision) or LPE_VIC_P (for motion capture). Reducing them will cause the estimator to trust the incoming pose estimate more. You may need to set them lower than the allowed minimum and force-save.