Visual Intertial Odometry on Snapdragon in PX4

VIO on Snapdragon is now fully tested and integrated in PX4 master - video:


Are there any details in HW + SW for VIO ?

This is great. I see the fork of the Snapdragon Flight ros-examples project. How does that connect to the flight controller? Is there a ROS->uORB translator somewhere? I can’t seem to find the glue code between VIO and the flight controller. Thanks!

The connection between the VIO running in ROS and the flight controller is established via mavros. The vio ros messages gets translated to mavlink and is received by the px4 app. There the.mavlink receiver translates it into a uorb message.