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Created by Anthony Nicolaides@Anthonyni

Where do Voxl components run

Hello,

I am trying to get a better grip of what runs where with Voxl, and I am having a hard time determining this from the modalai and Qualcomm documentation. We are using snav on the 820 Flight Pro platform.

My questions are:

What Voxl components run on the

  • CPU

  • GPU

  • DSP - The qualcomm doc mentions this, but I can not find anymore info on it.

Qualcomm Navigator is comprised of multiple libraries, executables, and configuration files. The core flight controller runs on the aDSP, and other components run on the applications processor and GPU. Qualcomm Navigator provides a low-level C API for applications to interact with the flight controller.

Where do the sensors come in to the system

  • Cameras

  • IMU

  • GPS

How do I determine the load on

  • GPU

  • DSP - I have seen there is a qualcomm tool for this, but I have not used it yet.

  • CPU - We are using top as well as snav_inspector and this is OK.

Regarding the DSP, I have read the 820 DSP is made up of four smaller application specific DSPs, and I see there is support for developing for the aDSP an the sDSP. Can you elaborate on what each of these should be used for, and what is already running on each of these? I have found the two support pages for these here

Thanks,