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docs/zh/companion_computer/holybro_pixhawk_jetson_baseboard.md
+67 -67
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@@ -892,95 +892,95 @@ These instructions approximately mirror the [PX4 Ethernet setup](../advanced_con
Next we modify the Jetson IP address to be on the same network as the Pixhawk:
1. Make sure `netplan` is installed.
You can check by running the following command:
You can check by running the following command:
```sh
netplan -h
```
```sh
netplan -h
```
If not, install it using the commands:
If not, install it using the commands:
```sh
sudo apt update
sudo apt install netplan.io
```
```sh
sudo apt update
sudo apt install netplan.io
```
2. Check `system_networkd` is running:
```sh
sudo systemctl status systemd-networkd
```
```sh
sudo systemctl status systemd-networkd
```
You should see output like below if it is active:
You should see output like below if it is active:
```sh
● systemd-networkd.service - Network Configuration
Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
TriggeredBy: ● systemd-networkd.socket
Docs: man:systemd-networkd.service(8)
Main PID: 2452 (systemd-network)
Status: "Processing requests..."
Tasks: 1 (limit: 18457)
Memory: 2.7M
CPU: 157ms
CGroup: /system.slice/systemd-networkd.service
└─2452 /lib/systemd/systemd-networkd
```sh
● systemd-networkd.service - Network Configuration
Loaded: loaded (/lib/systemd/system/systemd-networkd.service; enabled; vendor preset: enabled)
Active: active (running) since Wed 2024-09-11 23:32:44 EDT; 23min ago
TriggeredBy: ● systemd-networkd.socket
Docs: man:systemd-networkd.service(8)
Main PID: 2452 (systemd-network)
Status: "Processing requests..."
Tasks: 1 (limit: 18457)
Memory: 2.7M
CPU: 157ms
CGroup: /system.slice/systemd-networkd.service
└─2452 /lib/systemd/systemd-networkd
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
```
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: lo: Gained carrier
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: eth0: Gained IPv6LL
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: Enumeration completed
Sep 11 23:32:44 ubuntu systemd[1]: Started Network Configuration.
Sep 11 23:32:44 ubuntu systemd-networkd[2452]: wlan0: Connected WiFi access point: Verizon_7YLWWD (78:67:0e:ea:a6:0>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: Re-configuring with /run/systemd/network/10-netplan-eth0.netwo>
Sep 11 23:34:16 ubuntu systemd-networkd[2452]: eth0: DHCPv6 lease lost
```
If `system_networkd` is not running, it can be enabled using:
If `system_networkd` is not running, it can be enabled using:
```sh
sudo systemctl start systemd-networkd
sudo systemctl enable systemd-networkd
```
```sh
sudo systemctl start systemd-networkd
sudo systemctl enable systemd-networkd
```
3. Open the Netplan configuration file (so we can set up a static IP for the Jetson).
The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
Below we use `nano` to open the file, but you can use your preferred text editor:
The Netplan configuration file is usually located in the `/etc/netplan/` directory and named something like `01-netcfg.yaml` (the name can vary).
Below we use `nano` to open the file, but you can use your preferred text editor:
```sh
sudo nano /etc/netplan/01-netcfg.yaml
```
```sh
sudo nano /etc/netplan/01-netcfg.yaml
```
4. Modify the yaml configuration, by overwriting the contents with the following information and then saving:
```sh
network:
version: 2
renderer: networkd
ethernets:
eth0:
dhcp4: no
addresses:
- 10.41.10.1/24
routes:
- to: 0.0.0.0/0
via: 10.41.10.254
nameservers:
addresses:
- 10.41.10.254
```
```sh
network:
version: 2
renderer: networkd
ethernets:
eth0:
dhcp4: no
addresses:
- 10.41.10.1/24
routes:
- to: 0.0.0.0/0
via: 10.41.10.254
nameservers:
addresses:
- 10.41.10.254
```
This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
This gives the Jetson a static IP address on the Ethernet interface of `10.41.10.1` .
5. Apply the changes using the following command:
```sh
sudo netplan apply
```
```sh
sudo netplan apply
```
The Pixhawk Ethernet address is set to `10.41.10.2` by default, which is on the same subnet.
We can test our changes above by pinging the Pixhawk from within the Jetson terminal:
docs/zh/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md
+31 -31
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@@ -69,15 +69,15 @@ To install the RPi CM4 companion computer:
1. Disconnect the `FAN` wiring.
![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)
![HB_Pixhawk_CM4_Fan](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fan.jpg)
2. Remove these 4 screws on the back side of the baseboard.
![Bottom of the board showing screws in corners holding the cover](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_bottom.jpg)
![Bottom of the board showing screws in corners holding the cover](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_bottom.jpg)
3. Remove the baseboard case, install the CM4, and use the 4 screws to attach it (as shown):
![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)
![HB_Pixhawk_CM4_Screws](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_screws.jpg)
4. Reattach the cover.
@@ -115,29 +115,29 @@ To flash a RPi image onto EMMC.
1. Switch Dip-Switch to `RPI`.
![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_dip_switch.png)
![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_dip_switch.png)
2. Connect computer to USB-C _CM4 Slave_ port used to power & flash the RPi.
![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_usbc_slave_port.png)
![](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/cm4_usbc_slave_port.png)
3. Get `usbboot`, build it and run it.
```sh
sudo apt install libusb-1.0-0-dev
git clone --depth=1 https://github.com/raspberrypi/usbboot
cd usbboot
make
sudo ./rpiboot
```
```sh
sudo apt install libusb-1.0-0-dev
git clone --depth=1 https://github.com/raspberrypi/usbboot
cd usbboot
make
sudo ./rpiboot
```
4. You can now install your preferred Linux distro using The `rpi-imager`.
Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).
Make sure you add WiFi and SSH settings (hidden behind the gear/advanced symbol).
```sh
sudo apt install rpi-imager
rpi-imager
```
```sh
sudo apt install rpi-imager
rpi-imager
```
5. Once done, unplugging USB-C CM4 Slave (this will unmount the volumes, and power off the CM4).
@@ -146,8 +146,8 @@ To flash a RPi image onto EMMC.
7. Power on CM4 by providing power to USB-C CM4 Slave port.
8. To check if it's booting/working you can either:
- Check there is HDMI output
- Connect via SSH (if set up in rpi-imager, and WiFi is available).
- Check there is HDMI output
- Connect via SSH (if set up in rpi-imager, and WiFi is available).
## Configure PX4 to CM4 MAVLink Serial Connection
@@ -167,13 +167,13 @@ To enable this MAVLink instance on the FC:
1. Connect a computer running QGroundControl via USB Type C port on the baseboard labeled `FC`
![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)
![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg)
2. [Set the parameters](../advanced_config/parameters.md):
- `MAV_1_CONFIG` = `102`
- `MAV_1_MODE = 2`
- `SER_TEL2_BAUD` = `921600`
- `MAV_1_CONFIG` = `102`
- `MAV_1_MODE = 2`
- `SER_TEL2_BAUD` = `921600`
3. Reboot the FC.
@@ -185,13 +185,13 @@ On the RPi side:
2. Enable the RPi serial port by running `RPi-config`
- Go to `3 Interface Options`, then `I6 Serial Port`.
Then choose:
- `login shell accessible over serial → No`
- `serial port hardware enabled` → `Yes`
- Go to `3 Interface Options`, then `I6 Serial Port`.
Then choose:
- `login shell accessible over serial → No`
- `serial port hardware enabled` → `Yes`
3. Finish, and reboot.
This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.
This will add `enable_uart=1` to `/boot/config.txt`, and remove `console=serial0,115200` from `/boot/cmdline.txt`.
4. Now MAVLink traffic should be available on `/dev/serial0` at a baudrate of 921600.
@@ -201,9 +201,9 @@ On the RPi side:
2. Install MAVSDK Python:
```sh
python3 -m pip install mavsdk
```
```sh
python3 -m pip install mavsdk
```
3. Copy an example from the [MAVSDK-Python examples](https://github.com/mavlink/MAVSDK-Python/tree/main/examples).
docs/zh/companion_computer/pixhawk_rpi.md
+79 -79
View File
@@ -132,50 +132,50 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP
1. Install `raspi-config`:
```sh
sudo apt update
sudo apt upgrade
sudo apt-get install raspi-config
```
```sh
sudo apt update
sudo apt upgrade
sudo apt-get install raspi-config
```
2. Open `raspi-config`:
```sh
sudo raspi-config
```
```sh
sudo raspi-config
```
3. Go to the **Interface Option** and then click **Serial Port**.
- Select **No** to disable serial login shell.
- Select **Yes** to enable the serial interface.
- Click **Finish** and restart the RPi.
- Select **No** to disable serial login shell.
- Select **Yes** to enable the serial interface.
- Click **Finish** and restart the RPi.
4. Open the firmware boot configuration file in the `nano` editor on RPi:
```sh
sudo nano /boot/firmware/config.txt
```
```sh
sudo nano /boot/firmware/config.txt
```
5. Append the following text to the end of the file (after the last line):
```sh
enable_uart=1
dtoverlay=disable-bt
```
```sh
enable_uart=1
dtoverlay=disable-bt
```
6. Then save the file and restart the RPi.
- In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
- In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**.
7. Check that the serial port is available.
In this case we use the following terminal commands to list the serial devices:
In this case we use the following terminal commands to list the serial devices:
```sh
cd /
ls /dev/ttyAMA0
```
```sh
cd /
ls /dev/ttyAMA0
```
The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).
The result of the command should include the RX/TX connection `/dev/ttyAMA0` (note that this serial port is also available as `/dev/serial0`).
The RPi is now setup to work with RPi and communicate using the `/dev/ttyAMA0` serial port.
Note that we'll install more software in the following sections to work with MAVLink and ROS 2.
@@ -199,39 +199,39 @@ First check the Pixhawk `TELEM 2` configuration:
2. Open QGroundControl (the vehicle should connect).
3. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:
```ini
MAV_1_CONFIG = TELEM2
UXRCE_DDS_CFG = 0 (Disabled)
SER_TEL2_BAUD = 57600
```
```ini
MAV_1_CONFIG = TELEM2
UXRCE_DDS_CFG = 0 (Disabled)
SER_TEL2_BAUD = 57600
```
Note that the parameters may already be set appropriately.
For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
Note that the parameters may already be set appropriately.
For information about how serial ports and MAVLink configuration work see [Serial Port Configuration](../peripherals/serial_configuration.md) and [MAVLink Peripherals](../peripherals/mavlink_peripherals.md).
Then install setup MAVProxy on the RPi using the following terminal commands:
1. Install MAVProxy:
```sh
sudo apt install python3-pip
sudo pip3 install mavproxy
sudo apt remove modemmanager
```
```sh
sudo apt install python3-pip
sudo pip3 install mavproxy
sudo apt remove modemmanager
```
2. Run MAVProxy, setting the port to connect to `/dev/ttyAMA0` and the baud rate to match the PX4:
```sh
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
```
```sh
sudo mavproxy.py --master=/dev/serial0 --baudrate 57600
```
::: info
Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:
::: info
Note that above we used `/dev/serial0`, but we could equally well have used `/dev/ttyAMA0`.
If we were connecting via USB then we would instead set the port as `/dev/ttyACM0`:
```sh
sudo chmod a+rw /dev/ttyACM0
sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
```
```sh
sudo chmod a+rw /dev/ttyACM0
sudo mavproxy.py --master=/dev/ttyACM0 --baudrate 57600
```
:::
@@ -259,27 +259,27 @@ The configuration steps are:
2. [Check/change the following parameters](../advanced_config/parameters.md) in QGroundControl:
```ini
MAV_1_CONFIG = 0 (Disabled)
UXRCE_DDS_CFG = 102 (TELEM2)
SER_TEL2_BAUD = 921600
```
```ini
MAV_1_CONFIG = 0 (Disabled)
UXRCE_DDS_CFG = 102 (TELEM2)
SER_TEL2_BAUD = 921600
```
[MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
The `SER_TEL2_BAUD` rate sets the comms link data rate.\
You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
[MAV_1_CONFIG=0](../advanced_config/parameter_reference.md#MAV_1_CONFIG) and [UXRCE_DDS_CFG=102](../advanced_config/parameter_reference.md#UXRCE_DDS_CFG) disable MAVLink on TELEM2 and enable the uXRCE-DDS client on TELEM2, respectively.
The `SER_TEL2_BAUD` rate sets the comms link data rate.\
You could similarly configure a connection to `TELEM1` using either `MAV_1_CONFIG` or `MAV_0_CONFIG`.
::: info
You will need to reboot the flight controller to apply any changes to these parameters.
::: info
You will need to reboot the flight controller to apply any changes to these parameters.
:::
3. Check that the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module is now running.
YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
YOu can do this by running the following command in the QGroundControl [MAVLink Console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
```sh
uxrce_dds_client status
```
```sh
uxrce_dds_client status
```
:::info
If the client module is not running you can start it manually in the MAVLink console:
@@ -300,32 +300,32 @@ The steps to setup ROS 2 and the Micro XRCE-DDS Agent on the RPi are:
2. Install the git using the RPi terminal:
```sh
sudo apt install git
```
```sh
sudo apt install git
```
3. Install the uXRCE_DDS agent:
```sh
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
```
```sh
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
```
See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
See [uXRCE-DDS > Micro XRCE-DDS Agent Installation](../middleware/uxrce_dds.md#micro-xrce-dds-agent-installation) for alternative ways of installing the agent.
4. Start the agent in the RPi terminal:
```sh
sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
```
```sh
sudo MicroXRCEAgent serial --dev /dev/serial0 -b 921600
```
Note how we use the serial port set up earlier and the same baud rate as for PX4.
Note how we use the serial port set up earlier and the same baud rate as for PX4.
Now that both the agent and client are running, you should see activity on both the MAVLink console and the RPi terminal.
You can view the available topics using the following command on the RPi:
docs/zh/companion_computer/video_streaming_wfb_ng_wifi.md
+7 -7
View File
@@ -80,18 +80,18 @@ If you use a special "very" high power cards from Taobao/Aliexpress then you MUS
5. Setup camera pipeline. Open `/etc/systemd/system/fpv-camera.service` and uncomment pipeline according to your camera (PI camera or Logitech camera)
6. Open `/etc/wifibroadcast.cfg` and configure WiFi channel according to your antenna setup (or use default #165 for 5.8GHz)
7. Configure PX4 to output telemetry stream at speed 1500 Kbps (other UART speeds doesn't match well to RPi frequency dividers).
Connect Pixhawk UART to Raspberry Pi UART.
In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.
Connect Pixhawk UART to Raspberry Pi UART.
In `/etc/wifibroadcast.cfg` uncomment `peer = 'serial:ttyS0:1500000'` in `[drone_mavlink]` section.
### Using a Linux Laptop as GCS (Harder than using a RPi)
1. On **ground** Linux development computer:
```sh
sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
git clone -b stable https://github.com/svpcom/wfb-ng.git
cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
```
```sh
sudo apt install libpcap-dev libsodium-dev python3-all python3-twisted
git clone -b stable https://github.com/svpcom/wfb-ng.git
cd wfb-ng && make deb && sudo apt install ./deb_dist/wfb-ng*.deb
```
2. Follow the [Setup HOWTO](https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO) to complete installation