How to run it on Intel (R) Aero RTF Drone

• install Aero image v1.6 or newer (https://github.com/intel-aero/meta-intel-aero/wiki/02-Initial-Setup#flashing)
• build and install the latest stable PX4(the PX4 firmware in the Aero image do not have the LeddarOne driver)
• install a lidar, we recommend the LeddarOne(https://docs.px4.io/en/flight_controller/intel_aero.html) that can be connected to the telemetry port.
• in QGroundControl change this parameters:
  • EKF2_AID_MASK = 3 (use GPS + use optical flow)
  • EKF2_HGT_MODE = 2 (range sensor)
• inside of a Aero terminal run: systemctl start aero-optical-flow.service change start to enable if you want it to run at every boot
• change the flight mode to position and enjoy optical-flow

The down-faced camera in Aero RTF was chosen having in mind VIO (visual-inertial odometry) applications not optical-flow so it have a large field of view camera, because of that it will not be able to hold optical-flow positioning in floors with low texture. You can hand held the Aero RTF and check the quality of the optical-flow in the desire floor before actually fly by looking to QGroundControl>Widgets>MAVLink Inspector>OPTICAL_FLOW_RAD>quality if you are getting values higher than 100 it should be enough.

Build instructions

Requirements

• opencv

Build Steps

git submodule update --init --recursive
mkdir build
cd build
cmake ..
make