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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
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# 在 Raspberry Pi OS 上使用 PilotPi
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## 开发者快速指南
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### 操作系统映像
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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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默认你已经通过ssh连接到了树莓派。
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### 设置快速访问(可选)
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#### 主机名和 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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设置并退出。
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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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### 配置操作系统
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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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将文件内容替换为：
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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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启用 UART 但禁用登陆shell。
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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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整个文件将是：
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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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这告诉 Linux 内核不要在 CPU 核心2 上调度任何进程。
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我们将在稍后手动在该核心运行 PX4。
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Reboot and SSH onto your RPi.
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检查串口：
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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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检查 I2C：
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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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检查SPI：
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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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保存并退出。
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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 相机
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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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### 构建代码
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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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#### 为 Raspberry Pi OS 交叉编译
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然后上传：
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```sh
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export AUTOPILOT_HOST=192.168.X.X
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```
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或
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```sh
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export AUTOPILOT_HOST=pi_hostname.local
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```
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PX4 已配置使用多旋翼模型启动。
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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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这时应当使用基于 Docker 的编译。
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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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在执行下一步之前，先清除现有构建目录：
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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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如果您是首次使用 Docker 进行编译，请参考<a href="https://dev.px4.io/master/en/test_and_ci/docker.html#prerequisites">官方说明</a>。
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在 PX4-Autopilot 文件夹下执行：
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```sh
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rm -rf build/scumaker_pilotpi_default
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```
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### 备选构建方法 (使用 docker)
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只是为了编译代码，则可以执行：
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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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混控器在 <code>pilotpi_xx.conf</code> 文件中启用：
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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. 您也可以自己创建一个。
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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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### 后期配置
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示例输出
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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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