This topic explains how to configure the Qualcomm Snapdragon Flight.
In order to boot both the ROS node and PX4 automatically on bootup, edit the /etc/rc.local file on the Snapdragon Flight to look like this (note that the first line must change too!):
#!/bin/bash -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
# Generate the SSH keys if non-existent
test -f /etc/ssh/ssh_host_dsa_key || dpkg-reconfigure openssh-server
# Prepare the ROS environment
cd /home/linaro
source /opt/ros/indigo/setup.bash
source /home/linaro/ros_ws/devel/setup.bash
# Launch the mavros vislam node but add some delay otherwise startup is not reliable
sleep 5
roslaunch snapdragon_mavros_vislam mavros_vislam.launch > /dev/null &
# Launch PX4 autopilot in VIO configuration but add some delay otherwise startup is not reliable
sleep 5
./px4 /home/linaro/ros_ws/src/ros-examples/px4_configs/ekf2/mainapp.conf > /dev/null &
exit 0
The Snapdragon Flight was set to station mode in the ROS Setup. This could be a problem if you want to fly it outdoors where your home Wi-Fi is no longer available, so we recommend putting it back into access point mode.
/usr/local/qr-linux/wificonfig.sh -s softap
sudo reboot
| Parameter Name | Recommended Value |
|---|---|
| EKF2_HEIGHT_MODE | 3 VISION |
| EKF2_AID_MASK | 24 (VISION POS, VISION YAW) |
| MPC_THR_HOVER | 25 % |
| MC_PITCHRATE_P | 0.03 |
| MC_PITCHRATE_D | 0.001 |
| MC_ROLLRATE_P | 0.03 |
| MC_ROLLRATE_D | 0.001 |
| MC_RAWRATE_P | 0.08 |
| EKF2_IMU_POS_Z | 0.030m |
| EKF2_EV_POS_Z | 0.03m |
| PWM_MIN | 1150us |