mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 04:53:35 +08:00
107 lines
5.3 KiB
Markdown
107 lines
5.3 KiB
Markdown
# Using a Companion Computer with Pixhawk Controllers
|
|
|
|
PX4 running on Pixhawk-series flight controllers can connect to a companion computer using any free configurable serial port, including the Ethernet port (if supported).
|
|
|
|
See [Companion Computers](../companion_computer/index.md) for information about supported hardware and general setup.
|
|
|
|
## Companion Computer Software
|
|
|
|
The companion computer needs to run software that communicates with the flight controller, and which routes traffic to ground stations and the cloud.
|
|
|
|
Common options are listed in [Companion Computers > Companion Computer Setup](../companion_computer/index.md#companion-computer-software).
|
|
|
|
## Ethernet Setup
|
|
|
|
Ethernet is the recommended connection, if supported by your flight controller.
|
|
See [Ethernet Setup](../advanced_config/ethernet_setup.md) for instructions.
|
|
|
|
## Serial Port Setup
|
|
|
|
These instructions explain how to setup the connection if you're not using Ethernet.
|
|
|
|
### Pixhawk Configuration
|
|
|
|
PX4 expects companion computers to connect via `TELEM2` for offboard control.
|
|
The port is configured by default to interface using MAVLink.
|
|
|
|
If using MAVLink, no other PX4-side configuration should be required.
|
|
To use MAVLink on another port, and/or disable it on `TELEM2`, see [MAVLink Peripherals (GCS/OSD/Companion)](../peripherals/mavlink_peripherals.md) and [Serial Port Configuration](../peripherals/serial_configuration.md).
|
|
|
|
To use [ROS 2/uXRCE-DDS](../ros2/user_guide.md) instead of MAVLink on `TELEM2`, disable MAVLink on the port and then enable the uXRCE-DDS client on `TELEM2`(see [uXRCE-DDS > Starting the client](../middleware/uxrce_dds.md#starting-the-client)).
|
|
|
|
### Serial Port Hardware Setup
|
|
|
|
If you're connecting using a serial port, wire the port according to the instructions below.
|
|
All Pixhawk serial ports operate at 3.3V and are 5V level compatible.
|
|
|
|
:::warning
|
|
Many modern companion computers only support 1.8V levels on their hardware UART and can be damaged by 3.3V levels.
|
|
Use a level shifter.
|
|
In most cases the accessible hardware serial ports already have some function (modem or console) associated with them and need to be _reconfigured in Linux_ before they can be used.
|
|
:::
|
|
|
|
A safe and easy to set up option is to use an FTDI Chip USB-to-serial adapter board to connect from `TELEM2` on the Pixhawk to the USB port on the companion computer.
|
|
The `TELEM2` to FTDI wiring map is shown below.
|
|
|
|
| TELEM2 | | FTDI | |
|
|
| ------ | --------------------------- | ---- | ------------------------------------------------------- |
|
|
| 1 | +5V (적) | | 연결 금지! |
|
|
| 2 | TX (출력) | 5 | FTDI RX (황) (입력) |
|
|
| 3 | RX (입력) | 4 | FTDI TX (적황) (출력) |
|
|
| 4 | CTS (입력) | 6 | FTDI RTS (녹) (출력) |
|
|
| 5 | RTS (출력) | 2 | FTDI CTS (갈) (입력) |
|
|
| 6 | GND | 1 | FTDI GND (흑) |
|
|
|
|
You may also be able to directly connect `TELEM2` directly to a companion computer serial port.
|
|
This is demonstrated for the Raspberry Pi in [Raspberry Pi Companion with Pixhawk](../companion_computer/pixhawk_rpi.md).
|
|
|
|
### USB Serial Port Software setup on Linux
|
|
|
|
On Linux the default name of a USB FTDI would be like `\dev\ttyUSB0`.
|
|
If you have a second FTDI linked on the USB or an Arduino, it will registered as `\dev\ttyUSB1`.
|
|
To avoid the confusion between the first plugged and the second plugged, we recommend you to create a symlink from `ttyUSBx` to a friendly name, depending on the Vendor and Product ID of the USB device.
|
|
|
|
Using `lsusb` we can get the vendor and product IDs.
|
|
|
|
```sh
|
|
$ lsusb
|
|
|
|
Bus 006 Device 002: ID 0bda:8153 Realtek Semiconductor Corp. Bus 006 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
|
|
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
|
|
Bus 004 Device 002: ID 05e3:0616 Genesys Logic, Inc. Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
|
|
Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)
|
|
Bus 003 Device 005: ID 26ac:0011
|
|
Bus 003 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
|
|
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
|
|
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
|
|
Bus 001 Device 002: ID 0bda:8176 Realtek Semiconductor Corp. RTL8188CUS 802.11n WLAN Adapter
|
|
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
|
|
```
|
|
|
|
The Arduino is `Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)`
|
|
|
|
The Pixhawk is `Bus 003 Device 005: ID 26ac:0011`
|
|
|
|
:::info
|
|
If you do not find your device, unplug it, execute `lsusb`, plug it, execute `lsusb` again and see the added device.
|
|
:::
|
|
|
|
Therefore, we can create a new UDEV rule in a file called `/etc/udev/rules.d/99-pixhawk.rules` with the following content, changing the idVendor and idProduct to yours.
|
|
|
|
```sh
|
|
SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", SYMLINK+="ttyArduino"
|
|
SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", SYMLINK+="ttyPixhawk"
|
|
```
|
|
|
|
Finally, after a **reboot** you can be sure to know which device is what and put `/dev/ttyPixhawk` instead of `/dev/ttyUSB0` in your scripts.
|
|
|
|
:::info
|
|
Be sure to add yourself in the `tty` and `dialout` groups via `usermod` to avoid to have to execute scripts as root.
|
|
:::
|
|
|
|
```sh
|
|
usermod -a -G tty ros-user
|
|
usermod -a -G dialout ros-user
|
|
newgrp ros-user
|
|
```
|