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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 Ubuntu Server
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:::warning
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Ubuntu Server on RPi 4B consumes a lot of current and generates a lot of heat.
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Design for better heat dissipation and high power consumption when using this hardware.
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:::
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## Developer Quick Start
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### OS Image
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Both armhf and arm64 arch are supported.
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#### armhf
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- [Ubuntu Server 18.04.5 for RPi2](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi2.img.xz)
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- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi3.img.xz)
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- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-armhf+raspi4.img.xz)
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- [Ubuntu Server 20.04.1 for RPi 2/3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
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#### arm64
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- [Ubuntu Server 18.04.5 for RPi3](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi3.img.xz)
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- [Ubuntu Server 18.04.5 for RPi4](https://cdimage.ubuntu.com/releases/18.04.5/release/ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz)
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- [Ubuntu Server 20.04.1 for RPi 3/4](https://cdimage.ubuntu.com/releases/20.04.1/release/ubuntu-20.04.2-preinstalled-server-arm64+raspi.img.xz)
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#### Latest OS
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Please refer to official [cdimage](https://cdimage.ubuntu.com/releases/) page for any new updates.
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### First boot
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When setting up RPi's WiFi for the first time we recommended using a wired Ethernet connection between your home router and RPi, and a monitor and keyboard.
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#### Before booting
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Mount the SD card onto your computer and modify the network settings.
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Please follow the official instruction [here](https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#3-wifi-or-ethernet).
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Now plug the SD card onto your Pi and boot for the first time.
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Make sure you have shell access to the RPi - either SSH connection over wired Ethernet, or direct accessing with keyboard and monitor.
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#### WiFi region
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First install required package:
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```sh
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sudo apt-get install crda
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```
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Edit the file `/etc/default/crda` to change the correct WiFi region. [Reference List](https://www.arubanetworks.com/techdocs/InstantWenger_Mobile/Advanced/Content/Instant%20User%20Guide%20-%20volumes/Country_Codes_List.htm)
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```sh
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sudo nano /etc/default/crda
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```
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Then your Pi will able to join your WiFi network after reboot.
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#### Hostname and mDNS
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Let's set up hostname at first.
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```sh
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sudo nano /etc/hostname
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```
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Change the hostname to whatever you like.
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Then install the package required by mDNS:
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```sh
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sudo apt-get update
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sudo apt-get install avahi-daemon
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```
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Perform a reboot.
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```sh
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sudo reboot
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```
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Regain the accessibility through WiFi connection after the above operation.
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```sh
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ssh ubuntu@pi_hostname.local
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```
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#### Password-less Auth (Optional)
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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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The corresponding file in Ubuntu is `/boot/firmware/usercfg.txt`.
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```sh
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sudo nano /boot/firmware/usercfg.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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On Ubuntu Server 20.04:
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```sh
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sudo nano /boot/firmware/cmdline.txt
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```
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On Ubuntu Server 18.04 or earlier, `nobtcmd.txt` and `btcmd.txt` should both be modified.
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```sh
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sudo nano /boot/firmware/nobtcmd.txt
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```
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Find `console=/dev/ttyAMA0,115200` and remove that part to disable the login shell on serial interface.
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Append `isolcpus=2` after the last word.
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The whole file will then look like:
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```sh
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net.ifnames=0 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 elevator=deadline rootwait fixrtc isolcpus=2
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```
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The above line tells the Linux kernel do not 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 Pi.
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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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Note that we need to create this file, as it is not present on a fresh Ubuntu OS.
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```sh
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sudo nano /etc/rc.local
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```
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Append the content below to the file:
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```sh
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#!/bin/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/ubuntu/px4 ; nohup taskset -c 2 ./bin/px4 -d -s pilotpi_mc.config 2 &> 1 > /home/ubuntu/px4/px4.log &
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fi
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echo "25" > /sys/class/gpio/unexport
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exit 0
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```
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Save and exit.
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Then set the correct permissions:
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```sh
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sudo chmod +x /etc/rc.local
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```
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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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:::warning
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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 nano /boot/firmware/usercfg.txt
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```
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Append the following line at the end of file:
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```sh
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start_x=1
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```
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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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#### Set RPi upload target
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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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Additionally, we need to set the username:
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```sh
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export AUTOPILOT_USER=ubuntu
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```
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#### Build for armhf target
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Build the executable file:
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```sh
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cd Firmware
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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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#### Alternative build method for armhf (using docker)
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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 firmware folder:
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```sh
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./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; 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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#### Build for arm64 target
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::: info
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This step requires `aarch64-linux-gnu` tool-chain to be installed.
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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_arm64
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```
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Then upload it with:
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```sh
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make scumaker_pilotpi_arm64 upload
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```
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#### Alternative build method for arm64 (using docker)
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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 AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_arm64 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 the `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_arm64"
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```
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#### Manually run PX4
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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_*
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```
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Then go back to the corresponding chapter above.
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### Post-configuration
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Please refer to the instructions [here](raspberry_pi_pilotpi_rpios.md)
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Reference in New Issue
Block a user