Few questions about the firmware release and Pixhawk orientation about fast-drone-250

[PanNeng-ZJU]

1. we were having some trouble of unstable measurement of VIO with the 1.13.0 firmware, but I think you can give it a try in the pixhawk 6c.
2. The reason why we set up the pixhawk "perpendicular" to the front face of the drone, is that it's more suitable for installation. As long as the orientation of the flight controller is configured properly in the calibration part in the QGC, you can install the flight controller any way you want.

[EhrazImam]

@FaboNo hope you are doing well were you able to run on pixhawk 6x

[FaboNo]

@EhrazImam thanks for asking :) Actually I were not able to get the 200 Hz rate for the IMU - I tried all the known recipes but cannot... So it worked not well with VINS

[EhrazImam]

Any other hardware you have used

For 200 hz create a file etc/extras.txt and add mavlink stream -d /dev/ttyS0 -s HIGHRES_IMU -r 8000
mavlink stream -d /dev/ttyS0 -s ODOMETRY -r 8000

if it does not work try to change ttyS0 to ttyS1

[FaboNo]

@EhrazImam yes it is working by doing this (I saw it in on issue):
roslaunch mavros px4.launch &sleep 10;
rosrun mavros mavcmd long 511 105 4550 0 0 0 0 0 &sleep 1;
echo "/mavros/imu/data_raw to 200Hz"
rosrun mavros mavcmd long 511 31 4550 0 0 0 0 0 &sleep 1;
echo "/mavros/imu/data to 200Hz"