Using the cameras on the Snapdragon Flight

The Snapdragon Flight board has a downward facing gray-scale camera which can be used for optical flow based position stabilization and a forward facing RGB camera. The repo offers a way to run and stream the different cameras and calculate the optical flow.

Besides a camera, optical flow requires a downward facing distance sensor. Here, the use of the TeraRanger One is discussed.

Run the optical flow application as root:

The optical flow application requires IMU Mavlink messages from PX4. You may have to add an additional Mavlink instance to PX4 by adding the following to your :

The TROne is connected to the Snapdragon Flight through a custom DF13 4-to-6 pin cable. The wiring is as follows:

The TROne must be powered with 10 - 20V.