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* 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>
108 lines
5.2 KiB
Markdown
108 lines
5.2 KiB
Markdown
# Using a Companion Computer with Pixhawk Controllers
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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).
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See [Companion Computers](../companion_computer/index.md) for information about supported hardware and general setup.
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## Companion Computer Software
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The companion computer needs to run software that communicates with the flight controller, and which routes traffic to ground stations and the cloud.
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Common options are listed in [Companion Computers > Companion Computer Setup](../companion_computer/index.md#companion-computer-software).
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## Ethernet Setup
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Ethernet is the recommended connection, if supported by your flight controller.
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See [Ethernet Setup](../advanced_config/ethernet_setup.md) for instructions.
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## Serial Port Setup
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These instructions explain how to setup the connection if you're not using Ethernet.
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### Pixhawk Configuration
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PX4 expects companion computers to connect via `TELEM2` for offboard control.
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The port is configured by default to interface using MAVLink.
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If using MAVLink, no other PX4-side configuration should be required.
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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).
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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)).
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### Serial Port Hardware Setup
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If you're connecting using a serial port, wire the port according to the instructions below.
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All Pixhawk serial ports operate at 3.3V and are 5V level compatible.
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:::warning
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Many modern companion computers only support 1.8V levels on their hardware UART and can be damaged by 3.3V levels.
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Use a level shifter.
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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.
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:::
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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.
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The `TELEM2` to FTDI wiring map is shown below.
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| TELEM2 | | FTDI | |
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| ------ | --------- | ---- | ---------------------- |
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| 1 | +5V (red) | | DO NOT CONNECT! |
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| 2 | Tx (out) | 5 | FTDI RX (yellow) (in) |
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| 3 | Rx (in) | 4 | FTDI TX (orange) (out) |
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| 4 | CTS (in) | 6 | FTDI RTS (green) (out) |
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| 5 | RTS (out) | 2 | FTDI CTS (brown) (in) |
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| 6 | GND | 1 | FTDI GND (black) |
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You may also be able to directly connect `TELEM2` directly to a companion computer serial port.
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This is demonstrated for the Raspberry Pi in [Raspberry Pi Companion with Pixhawk](../companion_computer/pixhawk_rpi.md).
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### USB Serial Port Software setup on Linux
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On Linux the default name of a USB FTDI would be like `\dev\ttyUSB0`.
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If you have a second FTDI linked on the USB or an Arduino, it will registered as `\dev\ttyUSB1`.
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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.
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Using `lsusb` we can get the vendor and product IDs.
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```sh
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$ lsusb
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Bus 006 Device 002: ID 0bda:8153 Realtek Semiconductor Corp.
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Bus 006 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
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Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
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Bus 004 Device 002: ID 05e3:0616 Genesys Logic, Inc.
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Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
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Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)
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Bus 003 Device 005: ID 26ac:0011
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Bus 003 Device 002: ID 05e3:0610 Genesys Logic, Inc. 4-port hub
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Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
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Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
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Bus 001 Device 002: ID 0bda:8176 Realtek Semiconductor Corp. RTL8188CUS 802.11n WLAN Adapter
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Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
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```
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The Arduino is `Bus 003 Device 004: ID 2341:0042 Arduino SA Mega 2560 R3 (CDC ACM)`
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The Pixhawk is `Bus 003 Device 005: ID 26ac:0011`
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::: info
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If you do not find your device, unplug it, execute `lsusb`, plug it, execute `lsusb` again and see the added device.
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:::
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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.
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```sh
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SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", SYMLINK+="ttyArduino"
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SUBSYSTEM=="tty", ATTRS{idVendor}=="26ac", ATTRS{idProduct}=="0011", SYMLINK+="ttyPixhawk"
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```
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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.
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::: info
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Be sure to add yourself in the `tty` and `dialout` groups via `usermod` to avoid to have to execute scripts as root.
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:::
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```sh
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usermod -a -G tty ros-user
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usermod -a -G dialout ros-user
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```
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