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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>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# Raspberry Pi 2/3/4 Navio2 Autopilot
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<LinkedBadge type="warning" text="Experimental" url="../flight_controller/autopilot_experimental.html"/>
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://emlid.com/) for hardware support or compliance issues.
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:::
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This is the developer "quickstart" for Raspberry Pi 2/3/4 Navio2 autopilots.
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It allows you to build PX4 and transfer to the RPi, or build natively.
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## 操作系统映像
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Use the preconfigured [Emlid Raspberry Pi OS image for Navio 2](https://docs.emlid.com/navio2/configuring-raspberry-pi).
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The default image will have most of the setup procedures shown below already done.
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:::warning
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Make sure not to upgrade the system (more specifically the kernel).
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By upgrading, a new kernel can get installed which lacks the necessary HW support (you can check with `ls /sys/class/pwm`, the directory should not be empty).
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:::
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## Setting up Access
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The Raspberry Pi OS image has SSH setup already.
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Username is "pi" and password is "raspberry".
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We assume that the username and password remain at their defaults for the purpose of this guide.
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To setup the Pi to join your local wifi, follow [this guide](https://www.raspberrypi.org/documentation/configuration/wireless/wireless-cli.md), or connect it via an ethernet cable.
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To connect to your Pi via SSH, use the default username (`pi`) and hostname (`navio`).
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Alternatively (if this doesn't work), you can find the IP address of your RPi and specify it.
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```sh
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ssh pi@navio.local
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```
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或
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```sh
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ssh pi@<IP-ADDRESS>
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```
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## Expand the Filesystem
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Expand the file system to take advantage of the entire SD card by running:
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```sh
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sudo raspi-config --expand-rootfs
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```
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## Disable Navio RGB Overlay
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The existing Navio RGB overlay claims GPIOs used by PX4 for RGB Led.
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Edit `/boot/config.txt` by commenting the line enabling the `navio-rgb` overlay.
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```
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#dtoverlay=navio-rgb
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```
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## Testing file transfer
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We use SCP to transfer files from the development computer to the target board over a network (WiFi or Ethernet).
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To test your setup, try pushing a file from the development PC to the Pi over the network now.
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Make sure the Pi has network access, and you can SSH into it.
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```sh
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echo "Hello" > hello.txt
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scp hello.txt pi@navio.local:/home/pi/
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rm hello.txt
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```
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This should copy over a "hello.txt" file into the home folder of your Pi.
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Validate that the file was indeed copied, and you can proceed to the next step.
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## PX4 Development Environment
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These instructions explain how to install a PX4 development environment for building RPi on Ubuntu 18.04.
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:::warning
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PX4 binaries for Navio 2 can only be run on Ubuntu 18.04.
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You can build PX4 using the GCC toolchain on Ubuntu 20.04, but the generated binary files are too new to run on actual Pi (as of September 2023).
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For more information see [PilotPi with Raspberry Pi OS Developer Quick Start > Alternative build method using docker](../flight_controller/raspberry_pi_pilotpi_rpios.md#alternative-build-method-using-docker).
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:::
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### Install the Common Dependencies
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To get the common dependencies for Raspberry Pi:
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1. Download [ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh) <!-- NEED px4_version --> and [requirements.txt](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/requirements.txt) from the PX4 source repository (**/Tools/setup/**): <!-- NEED px4_version -->
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```sh
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wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh
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wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt
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```
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2. Run **ubuntu.sh** in a terminal to get just the common dependencies:
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```sh
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bash ubuntu.sh --no-nuttx --no-sim-tools
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```
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3. Then setup a cross-compiler (either GCC or clang) as described in the following sections.
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### GCC (armhf)
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Ubuntu software repository provides a set of pre-compiled toolchains. Note that Ubuntu Focal comes up with `gcc-9-arm-linux-gnueabihf` as its default installation which is not fully supported, so we must manually install `gcc-8-arm-linux-gnueabihf` and set it as the default toolchain. This guide also applies to earlier Ubuntu releases (Bionic).
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The following instruction assumes you haven't installed any version of arm-linux-gnueabihf, and will set up the default executable with `update-alternatives`.
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Install them with the terminal command:
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```sh
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sudo apt-get install -y gcc-8-arm-linux-gnueabihf g++-8-arm-linux-gnueabihf
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```
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Set them as default:
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```sh
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sudo update-alternatives --install /usr/bin/arm-linux-gnueabihf-gcc arm-linux-gnueabihf-gcc /usr/bin/arm-linux-gnueabihf-gcc-8 100 --slave /usr/bin/arm-linux-gnueabihf-g++ arm-linux-gnueabihf-g++ /usr/bin/arm-linux-gnueabihf-g++-8
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sudo update-alternatives --config arm-linux-gnueabihf-gcc
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```
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### GCC (aarch64)
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If you want to build PX4 for ARM64 devices, this section is required.
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```sh
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sudo apt-get install -y gcc-8-aarch64-linux-gnu g++-8-aarch64-linux-gnu
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sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-gcc aarch64-linux-gnu-gcc /usr/bin/aarch64-linux-gnu-gcc-8 100 --slave /usr/bin/aarch64-linux-gnu-g++ aarch64-linux-gnu-g++ /usr/bin/aarch64-linux-gnu-g++-8
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sudo update-alternatives --config aarch64-linux-gnu-gcc
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```
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### Clang (optional)
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First install GCC (needed to use clang).
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We recommend you to get clang from the Ubuntu software repository, as shown below:
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```sh
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sudo apt-get install clang
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```
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Example below for building PX4 firmware out of tree, using _CMake_.
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```sh
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cd <PATH-TO-PX4-SRC>
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mkdir build/px4_raspberrypi_default_clang
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cd build/px4_raspberrypi_default_clang
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cmake \
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-G"Unix Makefiles" \
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-DCONFIG=px4_raspberrypi_default \
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-UCMAKE_C_COMPILER \
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-DCMAKE_C_COMPILER=clang \
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-UCMAKE_CXX_COMPILER \
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-DCMAKE_CXX_COMPILER=clang++ \
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../..
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make
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```
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## 构建代码
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Specify the IP (or hostname) of your Pi using:
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```sh
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export AUTOPILOT_HOST=navio.local
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```
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或
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```sh
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export AUTOPILOT_HOST=192.168.X.X
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```
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:::info
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The value of the environment variable should be set before the build, or `make upload` will fail to find your Pi.
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:::
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Build the executable file on your development machine:
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```sh
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cd PX4-Autopilot
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make emlid_navio2
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```
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The "px4" executable file is in the directory **build/emlid_navio2_default/**.
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Make sure you can connect to your Pi over SSH, see [instructions how to access your Pi](#setting-up-access) following the instructions for armhf under Raspberry Pi.
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Then upload it with:
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```sh
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cd PX4-Autopilot
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make emlid_navio2 upload
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```
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Then, connect over ssh and run it on the Pi (as root):
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```sh
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cd ~/px4
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sudo ./bin/px4 -s px4.config
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```
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A successful build followed by executing PX4 will give you something like this:
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```sh
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______ __ __ ___
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| ___ \ \ \ / / / |
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| |_/ / \ V / / /| |
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| __/ / \ / /_| |
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| | / /^\ \ \___ |
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\_| \/ \/ |_/
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px4 starting.
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pxh>
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```
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## Autostart
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To autostart px4, add the following to the file **/etc/rc.local** (adjust it accordingly if you use native build), right before the `exit 0` line:
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```sh
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cd /home/pi && ./bin/px4 -d -s px4.config > px4.log
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```
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