Francis,
It hasn’t been integrated but it’s still probably a good idea. ArduPilot is actually in a much better position than it was at the time that blog post was written (>1year ago) because we’ve been experimenting with the DWM1000 sensor (or more accurately the Pozyx) which provides similar information.
https://www.youtube.com/watch?v=MKWlPsBmAyo
To integrate this Lighthouse we’d probably need a system to be donated to one or more of the main devs or if there are external developers interested in implementing the interface we could give advice on how to do it.
-Randy
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