PX4 VIO Setup with Jetson Nano and Intel T265 - Auterion VIO Fork

This is an in-depth tutorial of how to get VIO up and running on a Pixhawk-based drone from NXP. It's the HoverGames drone with some modifications to incorporate a Jetson Nano and Intel T265 Realsense camera for indoor vision positioning. I encourage you to review the gist I created linked below, as well as the chapters feature of YouTube to jump to various sections of this video. Please leave any comments or questions below if you're working through this setup. I'll be happy to help! 00:00 Intro 00:59 Quick VIO Position Hold Demo 01:50 Building the MAVLink Cable 01:50 Building the MAVLink Cable 03:54 Top Down View of VIO Drone 04:25 Powering Jetson Nano from Drone 05:34 3D Printed Jetson Nano Mounts 06:40 3D Printed T265 Mount 07:35 Burning Jetson Nano Image 08:47 Auterion VIO Code 09:10 VIO Gist Shortcut 09:34 ROS Melodic and Dependency Installation 11:35 Install librealsense 12:58 Install Python Catkin Tools 15:59 QGroundControl Wireless Configuration 17:34 Verify MAVLink Data Comms 18:13 Review MAVROS Launch Files 21:50 PX4 EKF2 Params for VIO 25:00 Launching VIO 25:26 Begin VIO Flight Test 25:43 VIO Altitude Flight Mode 26:03 VIO Position Flight Mode 26:39 VIO Yawing 28:20 Conclusion VIO Gist I created to simplify the software install https://gist.github.com/dbaldwin/041735a774bf46a82ee98bbbe28a7939 Auterion VIO Fork https://github.com/dbaldwin/vio Jetson Nano Mounting Blocks from Bell VRC https://github.com/bellflight/VRC-2021-Phase-I/blob/main/3D%20Prints/STLs/jetson_blocks.STL Jetson Nano Mount from Bell VRC https://github.com/bellflight/VRC-2021-Phase-I/blob/main/3D%20Prints/STLs/jetson_nano_mount_cooling.STL Intel T265 Rail Mount from Bell VRC https://github.com/bellflight/VRC-2021-Phase-II/blob/main/3D%20Prints/t265_rail_mount.STL Jetson Nano Wifi Antenna Mount from Bell VRC https://github.com/bellflight/VRC-2021-Phase-II/blob/main/3D%20Prints/wifi_antenna_mount.STL