This topic explains how to configure the Qualcomm Snapdragon Flight.
Autostart PX4 and Snap VIO
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
Put Snapdragon back into Access Point Mode
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_AID_MASK||24 (VISION POS, VISION YAW)|