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Setting up Pixhawk to do VIO:

mavlink stream -d ${MAVLINK_COMPANION_DEVICE} -s HIGHRES_IMU -r 200 in /etc/init.d/rcS (plug sd card to computer) edit px4/Firmware/src/modules/mavlink_main.cpp (ATTITUDE_QUATERNION parameter = 200) then edit camera_trigger_params.c in px4/Firmware/src/drivers/camera_trigger

1.GPIO trigger mode

2.TRIG_INTERVAL: 50.0 ms (20 FPS)

3.TRIG_POLARITY: 0 (active low)

4.TRIG\_ACT\_TIME: 0.5 ms 

5.TRIG_MODE: 1

6.TRIG_PINS: 56

enable triggering through mavcmd in launch file modify point grey driver finally modify covariance and noise parameters in rovio info file

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