# Configure Snapdragon
The Qualcomm Snapdragon Flight is discontinued (it has been superseded but PX4 does not yet support the newer version). This documentation is provided for existing users, but will be removed in a future release.
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
# Adjust Parameters
|Parameter Name||Recommended Value|
|EKF2_AID_MASK||24 (VISION POS, VISION YAW)|