Raspberry Pi
A tiny and affordable computer that you can use to learn programming through fun, practical projects. Homepage
Quick Software Getting Started
  1. 1.
    Raspberry Pi
    1. 2.
      APSync
      1. 1.
        Installing APSync
      2. 2.
      3. 3.
        Ssh into Raspberry Pi APSync
      4. 4.
        From Raspberry Pi, remove pymavlink and dronekit to install latest version
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$ pip unistall pymavlink (multiple times)
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$ pip unistall dronekit (multiple times)
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$ sudo pip install --upgrade future MAVProxy
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$ cd ~
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$ git clone https://github.com/dronekit/dronekit-python.git
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$ cd ./dronekit-python
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$ sudo python setup.py build
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$ sudo python setup.py install
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APSync

APSync is a project sponsored by eLab which simplifies the setup of companion computers so that they can be used to provide additional functionality to ArduPilot and also to ease integration with internet services. Homepage
Companion computer startup scripts and examples. Github

Telemetry Splitter

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[email protected]:~ $ sudo find / -name "start_mavproxy_telem_splitter*"
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/home/apsync/GitHub/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh
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[email protected]:~ $ nano /home/apsync/GitHub/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh
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# this starts mavproxy so that the serial link to the companion computer (on /dev/ttyUSB0) is available to a companion computer and external GCSs via UDP
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mavproxy.py --master /dev/ttyUSB0 --baud 921600 --out udpin:localhost:9000 --out udpbcast:192.168.42.255:14550
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Home Directory

cmavnode

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[email protected]:~ $ nano start_cmavnode/cmavnode.conf
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...
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[spare_out_0]
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type=udp
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targetip=127.0.0.1
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targetport=9000
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localport=9006
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sim_enable=false
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[spare_out_1]
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type=udp
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targetip=127.0.0.1
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targetport=9001
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localport=9007
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sim_enable=false
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...
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[spare_out_2]
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type=udp
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targetip=10.0.1.43
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targetport=9002
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localport=9008
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sim_enable=false
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[email protected]:~ $ mavproxy.py --master=127.0.0.1:14655 --out=udpbcast:10.0.1.255:14560
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[email protected]:~ $ mavproxy.py --master=127.0.0.1:14655 --out=udpout:10.0.1.43:14560
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Network

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[email protected]:~ $ ifconfig
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enxb827eb68daf4: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
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ether b8:27:eb:68:da:f4 txqueuelen 1000 (Ethernet)
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RX packets 0 bytes 0 (0.0 B)
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RX errors 0 dropped 0 overruns 0 frame 0
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TX packets 0 bytes 0 (0.0 B)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
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inet 127.0.0.1 netmask 255.0.0.0
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inet6 ::1 prefixlen 128 scopeid 0x10<host>
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loop txqueuelen 1 (Local Loopback)
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RX packets 1298961 bytes 89853678 (85.6 MiB)
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RX errors 0 dropped 0 overruns 0 frame 0
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TX packets 1298961 bytes 89853678 (85.6 MiB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
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inet 10.0.1.128 netmask 255.255.255.0 broadcast 10.0.1.255
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inet6 fe80::9a8a:8293:7439:2bc7 prefixlen 64 scopeid 0x20<link>
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ether b8:27:eb:3d:8f:a1 txqueuelen 1000 (Ethernet)
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RX packets 3248 bytes 230092 (224.6 KiB)
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RX errors 0 dropped 2 overruns 0 frame 0
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TX packets 130914 bytes 12551689 (11.9 MiB)
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TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
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