Auto flight using a Qualcomm Snapdragon Flight platform (7) - Visual inertial odometry (VIO)

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1. Sensor calibration

(1) snav_calibration_manager

(2) Navigator SDK

(3) RC

2. Configure the VIO parameters and active it

(1) Enable VIO in the snav_params.xml (/usr/lib/rfsa/adsp/snav_params.xml)

<pos_hold_mode_params>
   <param name="enable_vio" value="1"/>
   <param name="enable_gps" value="0"/>
   <param name="enable_dft" value="0"/>
</pos_hold_mode_params>

(2)  Configure Qualcomm Navigator to use VIO

$ sudo /etc/snav/configure_vio.sh
$ snav_dft_vio_app (*mv_1.1.9 should be installed.)


(3) Check the VIO positioning result

$ snav_inspector


3. Record 

(1) Machine vision logs

Setting the enable_srw_writer parameter in /etc/snav/app_params.snav_dft_vio_app.excelsior to 1. 

MV sequences are logged to /data/logs/snav/mv_sequence

Copy data to the host (ex: adb pull /data/logs/snav/mv_sequence/snav_mv_seq_00018/snav_dft_vio_camera/ '/home/shomin/images_820kit')

* MV sequences are not automatically removed; be careful to avoid filling up disk space.

(2) IMU logs

$ cd /data/logs/snav/flight
$ snav_inspector -o /path/to/log/file -w /path/to/desired/directory -m attitude (ex: $ snav_inspector -o snav_XXX_XXX.log -w /data/logs/snav/
csv -F )
$ adb pull /data/logs/snav/csv/imu_0_raw.csv '/home/shomin/log_files/snav'

Reference:
[1] https://github.com/ATLFlight/snav_api_examples/blob/master/src/snav_calibration_example.c
[2] Qualcomm® Snapdragon Navigator™ Developer Guide (80-P4698-20 B), August 8, 2017.
[2] https://github.com/ATLFlight/snav_fci

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