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Qualcomm Flight RB5 VIO

Enabling VIO

VIO on the RB5 is disabled by default. The service file for VIO can be started by configuring the qvio server:

rb5-qvio-server-configure

It will show the following prompt:

Would you like to enable the qvio service?
This will start qvio as a background process
Selecting yes will start the service, no will disable the service

1) yes
2) no

Enter 1 (yes) to enable the service. This will immediately start VIO and enable it on boot.

Using VIO

In order to check if VIO is running you can check with the following command:

systemctl status rb5-qvio-server

This will show you the status of the rb5-qvio-server.

If the status displays active(runnning) then VIO is running and the VIO data is being sent to PX4.

If the status displays failed then VIO failed to run. Make sure that camera index 2(downward facing tracking camera) and PX4 are running.

To restart VIO, you can simply restart the service file:

systemctl restart rb5-qvio-server

VIO should be restarted and the drone should be idle before any flight where VIO will be used.

Viewing VIO Data

VIO data can be viewed by manually running the rb5-camera-client command:

rb5-qvio-client

NOTE We set our library path before this command because is requires the specified library path, otherwise it won’t execute.

This will print out position data in the following format:

    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
   -0.11   -0.12   -0.06| -14.6  -30.1   -2.6| OKAY | 

T_imu_wrt_vio represents your drones XYZ position in meters from your starting position. To validate this data, you can move the drone forwards and observe as the X value increases.

Next Steps

Now let’s using obstacle avoidance features