Communicate with Intel RTF flight controller using UART interface (2)

1. Upgrade firmware to px4 v1.8.1

(1) Download release version directly. [1]
(2) Copy the firmware to /etc/aerofc/px4/ and do the update

cd /etc/aerofc/px4/
sudo aerofc-update.sh aerofc-v1-default.px4

(3) Check firmware version

sudo aero-get-version.py

2. Parameter setting using QGroundControl (presetting for connecting to drone is needed. [2] )

(1) EKF2_AID_MASK: 24
(2) EKF2_HGT_MODE: Vision (or Barometric pressure)
(3) SYS_COMPANION: 921600 (57600 for TX2)

*Reboot the drone after modifying parameters

3. Download example [3]

git clone https://github.com/rijesha/mavlink-interface
cd mavlink-interface
git submodule init
git submodule update

4. Connect the drone with a UART cable and check serial port name

ls /dev/ttyUSB*

5. Modify port name and baudrate in main.cpp

#define PORT "/dev/ttyUSB0"
#define BAUD 921600 (57600 for TX2)

6. Build and then run the project

make 
sudo ./position_controller

7. Result

As shown in the following pictures, mavlink inspector respects the values wrote in the main.cpp

*New setting: Companion Computer for Pixhawk Series

Reference:
[1] https://github.com/PX4/Firmware/releases
[2] https://github.com/intel-aero/meta-intel-aero/wiki/90-(References)-OS-user-Installation
[3] https://github.com/rijesha/mavlink-interface