From 9ab9decf05e20a641810fc7f8dcb933bd1919d3e Mon Sep 17 00:00:00 2001
From: Yuan-Chu Tai <chobits@itri.org.tw>
Date: Fri, 6 Sep 2024 19:59:55 +0800
Subject: [PATCH] Optitrack: update supported software version

---
 common/source/docs/common-optitrack.rst | 17 +++++++----------
 1 file changed, 7 insertions(+), 10 deletions(-)

diff --git a/common/source/docs/common-optitrack.rst b/common/source/docs/common-optitrack.rst
index 50526dfb20..d883e5b61d 100644
--- a/common/source/docs/common-optitrack.rst
+++ b/common/source/docs/common-optitrack.rst
@@ -39,13 +39,9 @@ Please refer to OptiTrack `quick start guides <https://v20.wiki.optitrack.com/in
 Required softwares
 ==================
 
-* `Motive 2 Tracker <https://optitrack.com/products/motive/tracker/>`__
+* `Motive 2 or 3 Tracker <https://optitrack.com/products/motive/tracker/>`__
 * `MAVProxy <https://github.com/ArduPilot/MAVProxy>`__
 
-.. note::
-
-   Motive 3 is not supported
-
 Prepare the drone
 =================
 
@@ -124,13 +120,14 @@ After all parameters is set, start sending pose to ardupilot:
 Ground testing
 ==============
 
-- Connect the drone to a ground station
+- Connect the drone to MAVProxy
 - Start Motive and make sure `data streaming <https://v20.wiki.optitrack.com/index.php?title=Data_Streaming>`__ is turned on.
-- If you see following message in ground station console (initial pos may vary), then the drone should be ready for flight test
+- load and start optitrack module.
+- If you see following message appearing (initial pos may vary), then the drone is receiving pose data from Optitrack system. 
 
-*EKF2 IMU0 is using external nav data
-EKF2 IMU0 initial pos NED = 0.1,-0.2,0.0 (m)
-EKF2 IMU0 ext nav yaw alignment complete*
+``EKF3 IMU0 is using external nav data
+EKF3 IMU0 initial pos NED = 0.1,-0.2,0.0 (m)
+EKF3 IMU0 ext nav yaw alignment complete``
 
 Flight testing
 ==============