Connect Odroid
- Connect to remote computer to qtcopter Wi-Fi.
- Connect remote computer via SSH to Odroid:
ssh odroid@192.168.12.1
(password: odroid)
3. Go to the drone's code folder:
cd DroneProject3/
4. Run the Drone's code on Odroid
a. If Odroid connected via USB:
sudo python drone_CoPilot.py --connect /dev/ttyACM0 --gcs_ip 192.168.x.x
b. If Odroid connected via Telem:
sudo python drone_CoPilot.py --connect /dev/ttyUSB0,57600 --gcs_ip 192.168.x.x
c. If you want to add a video transmit from a drone add
--video_client_ip xxx.xxx.xxx.xxx --video_client_port yyyy --video_server_port zzzz
(flag. xxx.xxx.xxx.xxx - is the client's ip, yyyy - client's port, zzzz - server's port (of the socket through which we are sending the video))
5. Run the GCS on Remote computer, (connected to Drone via Wi-Fi)
a. On Windows:
sudo python GCS.py --drone_ip 192.168.12.1
b. On Linux:
python GCS.py --drone_ip 192.168.12.1
c. If you want to add a video receive from a drone add
--video_port xxxx
(flag. xxxx - is the port for receiving the video)
6. (Optional) Run Mission Planer on another or same remote computer (connected through Telemetry dongle):
mavproxy.py --master tcp:127.0.0.1:5763 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --map
To shutdown Odroid run:
sudo shutdown -P
We use clean Ubuntu 14.04 with following dependencies installed:
- Drone-kit:
[Drone Kit Quick Start](http://python.dronekit.io/guide/quick_start.html)
- FlyCapture:
[Fly Capture Guide](https://github.com/jordens/pyflycapture2)
```sh
mkdir ~/git
cd ~/git
git clone https://github.com/peterpolidoro/pyflycapture2.git
sudo apt-get install python-pip -y
sudo pip install cython
sudo pip install numpy
cd ~/git/pyflycapture2/
sudo python setup.py install
- TkInter:
sudo apt-get install python-tkFor showing video in the GCS you must install:
pip install Pillowif you get "ImportError: cannot import name ImageTk" , run:
sudo apt-get install python-imaging-tkInstall serial:
sudo pip install pyserialInstall MAVProxy:
sudo pip install MAVProxyConnect MAVProxy from Odroid to Pixhawk via (1) Telem or (2) USB
mavproxy.py --master=/dev/ttyACM0 --baudrate 115200
mavproxy.py --master=/dev/ttyUSB0 --baudrate 57600If module map is not loaded (fails to import cv when OpenCV 3.0 or greater installed)
Try to install that:
sudo apt-get install python-matplotlib python-serial python-wxgtk2.8 python-lxml
sudo apt-get install python-scipy python-opencv ccache gawk git python-pip python-pexpector wait for this fix of mavproxy: ArduPilot/MAVProxy#258
Possible new GUI + assync UDP design:
-
https://www.safaribooksonline.com/library/view/python-cookbook/0596001673/ch09s07.html
-
http://code.activestate.com/recipes/82965-threads-tkinter-and-asynchronous-io/
-
drone's PC is a UDP Server. Need to put a client's IP in a HOST parameter.
-
GCS PC is a UDP Client. Need to put localhost in a HOST parameter.
-
hotspot: Read http://odroid.com/dokuwiki/doku.php?id=en:xu4_wlan_ap#configuration_for_wifi_module_3 In short, download and patch hostapd, replace with existing. Then use create_ap for AP creation.
sudo apt-get install libnl-3-dev libnl-genl-3-dev libssl-dev hostapd iptables
sudo apt-get install --reinstall pkg-config
$ git clone https://github.com/pritambaral/hostapd-rtl871xdrv.git
$
$ wget https://w1.fi/releases/hostapd-2.5.tar.gz
$ tar xvfz hostapd-2.5.tar.gz
$ cd hostapd-2.5
$ patch -p1 < ../hostapd-rtl871xdrv/rtlxdrv.patch
$ cd hostapd
$ cp defconfig .config
$ echo CONFIG_LIBNL32=y >> .config
$ echo CONFIG_DRIVER_RTW=y >> .config
$
$ make
Backup the hostapd demon. Replace the demon with configured one.
$ cp /usr/sbin/hostapd /usr/sbin/hostapd.back
$ cp hostapd /usr/sbin/hostapd
Verify that you have installed the latest version
$ /usr/sbin/hostapd -v
hostapd v2.5 for Realtek rtl871xdrv
User space daemon for IEEE 802.11 AP management,
IEEE 802.1X/WPA/WPA2/EAP/RADIUS Authenticator
Copyright (c) 2002-2015, Jouni Malinen <j@w1.fi> and contributors
If Odroid has on ip with lan cable connected, run
dhclient eth0
To install create_ap: http://askubuntu.com/a/701049
git clone https://github.com/oblique/create_ap
cd create_ap
make install
No passphrase (open network):
create_ap wlan0 eth0 MyAccessPoint
WPA + WPA2 passphrase:
create_ap wlan0 eth0 MyAccessPoint MyPassPhrase
To create a service (AP on boot), copy create_ap.service from git repository (https://github.com/oblique/create_ap) to /etc/systemd/system/create_ap.service then edit it. This instructions is from http://www.runeaudio.com/forum/hostapd-configuration-wifi-hotspot-setup-t567.html
ESC Calibration sequence
- Remove props
- Turn on RC
- Throttle to MAX
- Connect battery
- Notice LED pattern (Blue,Red,Green)
- Disconnect battery
- Re-connect battery
- Press the safety switch
- Wait for single beep
- Throttle to MIN
- Wait for three beeps
- Disconnect battery
tutorial link: https://www.youtube.com/watch?v=Hl-Q7RPOn18