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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
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# PilotPi with Raspberry Pi OS
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## Developer Quick Start
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### OS Image
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The latest official [Raspberry Pi OS Lite](https://downloads.raspberrypi.org/raspios_lite_armhf_latest) image is always recommended.
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To install you must already have a working SSH connection to RPi.
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### Setting up Access (Optional)
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#### Hostname and mDNS
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mDNS helps you connect to your RPi with hostname instead of IP address.
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```sh
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sudo raspi-config
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```
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Navigate to **Network Options > Hostname**.
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Set and exit.
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You may want to setup [passwordless auth](https://www.raspberrypi.org/documentation/remote-access/ssh/passwordless.md) as well.
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### Setting up OS
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#### config.txt
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```sh
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sudo nano /boot/config.txt
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```
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Replace the file with:
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```sh
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# enable sc16is752 overlay
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dtoverlay=sc16is752-spi1
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# enable I2C-1 and set the frequency to 400KHz
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dtparam=i2c_arm=on,i2c_arm_baudrate=400000
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# enable spidev0.0
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dtparam=spi=on
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# enable RC input
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enable_uart=1
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# enable I2C-0
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dtparam=i2c_vc=on
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# switch Bluetooth to miniuart
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dtoverlay=miniuart-bt
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```
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#### cmdline.txt
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```sh
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sudo raspi-config
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```
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**Interfacing Options > Serial > login shell = No > hardware = Yes**.
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Enable UART but without a login shell on it.
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```sh
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sudo nano /boot/cmdline.txt
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```
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Append `isolcpus=2` after the last word.
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The whole file would be:
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```sh
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console=tty1 root=PARTUUID=xxxxxxxx-xx rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait isolcpus=2
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```
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This tells the Linux kernel not to schedule any process on CPU core 2.
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We will manually run PX4 onto that core later.
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Reboot and SSH onto your RPi.
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Check UART interface:
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```sh
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ls /dev/tty*
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```
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There should be `/dev/ttyAMA0`, `/dev/ttySC0` and `/dev/ttySC1`.
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Check I2C interface:
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```sh
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ls /dev/i2c*
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```
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There should be `/dev/i2c-0` and `/dev/i2c-1`
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Check SPI interface
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```sh
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ls /dev/spidev*
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```
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There should be `/dev/spidev0.0`.
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#### rc.local
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In this section we will configure the auto-start script in **rc.local**.
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```sh
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sudo nano /etc/rc.local
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```
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Append below content to the file above `exit 0`:
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```sh
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echo "25" > /sys/class/gpio/export
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echo "in" > /sys/class/gpio/gpio25/direction
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if [ $(cat /sys/class/gpio/gpio25/value) -eq 1 ] ; then
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echo "Launching PX4"
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cd /home/pi/px4 ; nohup taskset -c 2 ./bin/px4 -d -s pilotpi_mc.config 2 &> 1 > /home/pi/px4/px4.log &
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fi
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echo "25" > /sys/class/gpio/unexport
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```
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Save and exit.
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::: info
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Don't forget to turn off the switch when it is not needed.
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:::
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#### CSI camera
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::: info
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Enable CSI camera will stop anything works on I2C-0.
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:::
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```sh
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sudo raspi-config
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```
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**Interfacing Options > Camera**
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### Building the code
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To get the _very latest_ version onto your computer, enter the following command into a terminal:
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```sh
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git clone https://github.com/PX4/PX4-Autopilot.git --recursive
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```
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::: info
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This is all you need to do just to build the latest code.
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:::
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#### Cross build for Raspberry Pi OS
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Set the IP (or hostname) of your RPi using:
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```sh
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export AUTOPILOT_HOST=192.168.X.X
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```
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or
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```sh
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export AUTOPILOT_HOST=pi_hostname.local
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```
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Build the executable file:
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```sh
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cd PX4-Autopilot
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make scumaker_pilotpi_default
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```
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Then upload it with:
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```sh
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make scumaker_pilotpi_default upload
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```
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Connect over ssh and run it with:
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```sh
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cd px4
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sudo taskset -c 2 ./bin/px4 -s pilotpi_mc.config
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```
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Now PX4 is started with multi-rotor configuration.
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If you encountered the similar problem executing `bin/px4` on your Pi as following:
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```
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bin/px4: /lib/xxxx/xxxx: version `GLIBC_2.29' not found (required by bin/px4)
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```
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Then you should compile with docker instead.
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Before proceeding to next step, clear the existing building at first:
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```sh
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rm -rf build/scumaker_pilotpi_default
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```
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### Alternative build method (using docker)
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The following method can provide the same tool-sets deployed in CI.
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If you are compiling for the first time with docker, please refer to the [official docs](../test_and_ci/docker.md#prerequisites).
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Execute the command in PX4-Autopilot folder:
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```sh
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./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export NO_NINJA_BUILD=1; make scumaker_pilotpi_default upload"
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```
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::: info
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mDNS is not supported within docker. You must specify the correct IP address every time when uploading.
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:::
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::: info
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If your IDE doesn't support ninja build, `NO_NINJA_BUILD=1` option will help.
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You can compile without uploading too. Just remove `upload` target.
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:::
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It is also possible to just compile the code with command:
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```sh
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./Tools/docker_run.sh "make scumaker_pilotpi_default"
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```
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### Post-configuration
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You need to check these extra items to get your vehicle work properly.
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#### Actuator Configuration
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First set the [CA_AIRFRAME](../advanced_config/parameter_reference.md#CA_AIRFRAME) parameter for your vehicle.
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You will then be able to assign outputs using the normal [Actuator Configuration](../config/actuators.md) configuration screen (an output tab will appear for the RPi PWM output driver).
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#### External Compass
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In the startup script(`*.config`), you will find
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```sh
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# external GPS & compass
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gps start -d /dev/ttySC0 -i uart -p ubx -s
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#hmc5883 start -X
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#ist8310 start -X
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```
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Uncomment the correct one for your case.
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Not sure which compass comes up with your GPS module? Execute the following commands and see the output:
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```sh
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sudo apt-get update
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sudo apt-get install i2c-tools
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i2cdetect -y 0
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```
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Sample output:
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```
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0 1 2 3 4 5 6 7 8 9 a b c d e f
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00: -- -- -- -- -- -- -- -- -- -- -- 0e --
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10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- 1e --
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20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
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70: -- -- -- -- -- -- -- --
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```
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`1e` indicates a HMC5883 based compass is mounted on external I2C bus. Similarly, IST8310 has a value of `0e`.
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::: info
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Generally you only have one of them.
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Other devices will also be displayed here if they are connected to external I2C bus.(`/dev/i2c-0`)
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:::
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