Racing firmware mostly
CleanFlight vs betaflight vs iNav. A family of related firmwares
iNav for autonomous, betaflight for latest
Betaflight might be taking over?
Ardupilot seems to be leader for autonomous drones
pixhawk is premier computer
gstream for video streaming
even better for streaming pi?
The only thing we have working is the webrtc brwoser based camera.
You need to click call to make it start
get avr branch of ardupilot
go into examples folder
make apm2 upload
I am not registering my apm2.6 as a serial device. Ok, my usb cable was bad. What are the odds?
installing apmplanner from http://ardupilot.org/planner2/docs/installation-for-linux.html
command is missing an underscore
rtl is return to launch
SITL is the recommended simulator
Installed vagrant to use SITL on mac
I had to make a Vagrantfile to get it to work. By default vagrant was trying to use some nonsense
Make Vagrantfile with
Vagrant.configure("2") do |config| config.vm.box = "ubuntu/xenial64" end
JMavSim for software in the loop on pixhawk 2
What is the difference between apm planner and mission planner?
Setup pi as access point. Could use as radio then. Not very long range
supposedly the apm2.6 will connect through usb
Mavlink and pymavlink. Evidently dronekit uses pymavlink
pymavlink is a low level python control of MAVlink messages.
mavproxy – is a command line ground station software. More feature packed than apm planner? Has ability to use multiple linked ground stations.
mavproxy can forward data to a given port. Useful, but I can’t find it documented in the mavproxy docs themselves
dronecode is a set of projects
Really nice looking simulator
I had to sign up with epic games and link my gihub account to be able to clone the unreal engine
We’re using a Turnigy 9x. Got a ppm encoder to be able to attach to pixhawk
Setting up the pixhawk 2:
The motors need to be plugged in according to their number
Download APM planner 2
Flashed the firmware
Ran through the initial calibration. Followed onscreen instructions.
Not immediately getting all the buttons working
Swapped channels 5 and 6 on controller to have flight mode siwtch
Stabilize – self level roll and pitch axes
FS_THR_Value error. Not sure why
Compass is not calibrating. Not sure why.
We had lots of problems until we uploaded the latest firmware. It loaded firmware at the beginning, but I guess it wasn’t the latest. We built APM Planner from source and perhaps that reupdating fixed the firmware to 3.5.1
Spinning up it flew but was spinning. We wired up the motors ccw and cw opposite to the wiring diagram but never changed it in the firmware.
Drone Code uses QGroundControl. This is sort of an APM Planner alternative.
v.channels gives a dict
channel 2 was right up down
channel 3 was left up down
Dronekit Cloud. Web apis for drone control? This kind of seems like for if you have a ton of drones. Forward looking
In the field we can connect to the drone using the phone as a hotspot.
It seems like only guided mode will accept mavlink commands
The controller modes override what the pi says.
Stabilize mode should ignore mavlink commands? In case they get wonky.
So we set the controller to have flight mode settings. In those three modes, in case something goes wrong.
put this in a dronerun file
python “$@” &
So that you won’t have the program stop when ssh pipe dies.
Need to set RTL speed and altitude. Dafult may be alarming
250 up default
150 down default
Crash on RTL mode. (Toilet bowl behavior? Seemed to be moving in a circle. ) I also felt like the loiter mode responded counter intuitively to my commands.
We’d like to use raspberry pi camera for visual odometry
Mavlink message is implemented in ardupilot