Raspberry Pi

A tiny and affordable computer that you can use to learn programming through fun, practical projects. Homepage

Quick Software Getting Started

1. Raspberry Pi

   1. From Scratch

      1. Download Raspberry Pi Raspbian

      2. Follow Installation Guide

      3. Follow either

         1. Communicating with Raspberry Pi via MAVLink

         2. Making a Mavlink WiFi bridge using the Raspberry Pi

      4. Follow DroneKit Quick Start Installation

   2. APSync

      1. Installing APSync

      2. APSync Intro

      3. Ssh into Raspberry Pi APSync

      4. From Raspberry Pi, remove pymavlink and dronekit to install latest version

$ pip unistall pymavlink (multiple times)
$ pip unistall dronekit (multiple times)
$ sudo pip install --upgrade future MAVProxy
$ cd ~
$ git clone https://github.com/dronekit/dronekit-python.git
$ cd ./dronekit-python
$ sudo python setup.py build
$ sudo python setup.py install

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

apsync@apsync:~ $ sudo find / -name "start_mavproxy_telem_splitter*"
/home/apsync/GitHub/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh

apsync@apsync:~ $ nano /home/apsync/GitHub/companion/RPI2/Raspbian/start_mavproxy_telem_splitter.sh
# 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
mavproxy.py --master /dev/ttyUSB0 --baud 921600 --out udpin:localhost:9000 --out udpbcast:192.168.42.255:14550

Home Directory

cmavnode

apsync@apsync:~ $ nano start_cmavnode/cmavnode.conf
...
[spare_out_0]
    type=udp
    targetip=127.0.0.1
    targetport=9000
    localport=9006
    sim_enable=false

[spare_out_1]
    type=udp
    targetip=127.0.0.1
    targetport=9001
    localport=9007
    sim_enable=false
...

[spare_out_2]
    type=udp
    targetip=10.0.1.43
    targetport=9002
    localport=9008
    sim_enable=false

apsync@apsync:~ $ mavproxy.py --master=127.0.0.1:14655 --out=udpbcast:10.0.1.255:14560
apsync@apsync:~ $ mavproxy.py --master=127.0.0.1:14655 --out=udpout:10.0.1.43:14560

Network

apsync@apsync:~ $ ifconfig
enxb827eb68daf4: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether b8:27:eb:68:da:f4  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1  (Local Loopback)
        RX packets 1298961  bytes 89853678 (85.6 MiB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1298961  bytes 89853678 (85.6 MiB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 10.0.1.128  netmask 255.255.255.0  broadcast 10.0.1.255
        inet6 fe80::9a8a:8293:7439:2bc7  prefixlen 64  scopeid 0x20<link>
        ether b8:27:eb:3d:8f:a1  txqueuelen 1000  (Ethernet)
        RX packets 3248  bytes 230092 (224.6 KiB)
        RX errors 0  dropped 2  overruns 0  frame 0
        TX packets 130914  bytes 12551689 (11.9 MiB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

apsync@apsync:~ $