Enable ssh:

create /boot/ssh

Setup headless wifi:

edit /boot/wpa_supplicant.conf

country=HU
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1

network={
  scan_ssid=1
  ssid="your_real_wifi_ssid"
  psk="your_real_password"
}

Configure RaspberryPi:

$ sudo raspi-config

• Change password
• Enable serial, disable boot logs export to serial
• Enable camera

export LANGUAGE=en_US.UTF-8
export LANG=en_US.UTF-8
export LC_ALL=en_US.UTF-8
sudo locale-gen en_US.UTF-8
sudo dpkg-reconfigure locales

Check/set ttyAMA0 speed:

$ sudo stty -F /dev/ttyAMA0 921600

Edit /boot/config.txt:

init_uart_clock=64000000

Still a question if BT is interfering with serial See here: https://www.raspberrypi.org/documentation/configuration/uart.md

Edit /boot/config.txt:

dtoverlay=pi3-disable-wifi
dtoverlay=pi3-disable-bt

Update Raspbian:

$ sudo apt-get update

$ sudo apt-get -y dist-upgrade

Optionally Install camera module:

$ sudo modprobe bcm2835-v4l2 gst_v4l2src_is_broken=1

make it permanent:

sudo nano /etc/modules

put bcm2835-v4l2 to the end then reboot

Optionally change swap size to 1024:

$ sudo nano /etc/dphys-swapfile

$ sudo /etc/init.d/dphys-swapfile stop

$ sudo /etc/init.d/dphys-swapfile start

1. Remove old version of Docker if necessarry:

$ sudo apt-get remove docker docker-engine docker.io containerd runc

2. Install Docker using the convenience script:

$ curl -fsSL https://get.docker.com -o get-docker.sh

$ sudo sh get-docker.sh

$ sudo usermod -aG docker pi

note: on SSL error

$ cd /usr/local/share/ca-certificates
$ sudo wget https://curl.haxx.se/ca/cacert.pem
$ sudo mv cacert.pem cacert.crt
$ sudo update-ca-certificates

$ sudo apt-get -y install ppp wvdial usb-modeswitch

Edit: /etc/wvdial.conf

[Dialer Defaults]
Init1 = ATZ
Init2 = AT+CFUN=1,0
Init3 = ATQ0 V1 E1 H0 S0=0
Init4 = AT+CGDCONT=1,"IP","internet.vodafone.net"
New PPPD = Yes
ISDN = 0
Stupid Mode = 1
Dial Command = ATDT
Auto Reconnect = 1
Idle Seconds = 0
Phone = *99#
Modem = /dev/gsmmodem
Username = { }
Password = { }
Baud = 460800

Edit: /etc/network/interfaces

auto ppp0
iface ppp0 inet wvdial

Testing connection:

$ sudo wvdial & disown

Note: disown allows you to close the terminal

Create: /home/pi/modemstart.sh

#!/bin/bash
ifdown ppp0
ifup ppp0 

$ sudo chmod +x /home/pi/modemstart.sh

Edit: /etc/rc.local

sh '/home/pi/modemstart.sh'

Install

$ sudo wget https://www.vpn.net/installers/logmein-hamachi_2.1.0.203-1_armhf.deb

$ sudo dpkg -i logmein-hamachi_2.1.0.203-1_armhf.deb

CLI

$ sudo hamachi login

Settings

$ service logmein-hamachi stop

$ service logmein-hamachi start

Start hamachi at boot

$ systemctl enable logmein-hamachi

$ hamachi login

$ sudo hamachi join <Network-id>

GUI

https://www.haguichi.net/

$ sudo apt install dirmngr

$ sudo sh -c 'echo "deb http://ppa.launchpad.net/webupd8team/haguichi/ubuntu bionic main" > /etc/apt/sources.list.d/haguichi.list'

$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys C2518248EEA14886

$ sudo apt update

$ sudo apt install -y haguichi

Disable the OS control of the serial port with raspi-config

$ sudo apt-get install screen

$ sudo pip install mavproxy

Test:

$ sudo -s

$ mavproxy.py --master=/dev/ttyAMA0,921600 --aircraft=MyCopter

Note: on rPI3 ttyS0 is the serial port

Mav console commands to disable arm checks:

param show ARMING_CHECK
param set ARMING_CHECK 0
arm throttle

To setup MAVProxy to start whenever the RPi is restarted open a terminal window and edit the /etc/rc.local file, adding the following lines just before the final “exit 0” line:

(
date
echo $PATH
PATH=$PATH:/bin:/sbin:/usr/bin:/usr/local/bin
export PATH
cd /home/pi
screen -d -m -s /bin/bash mavproxy.py --master=/dev/ttyAMA0,921600 --out=udp:<ip-of-ground>:14550 --out=udp:<ip-of-ground>:14551 --aircraft=MyCopter
) > /tmp/rc.log 2>&1
exit 0

Whenever the RPi connects to the Pixhawk, three files will be created in the /home/pi/MyCopter/logs/YYYY-MM-DD directory:

• mav.parm : a text file with all the parameter values from the Pixhawk
• flight.tlog : a telemetry log including the vehicles altitude, attitude, etc which can be opened using the mission planner (and a number of other tools)
• flight.tlog.raw : all the data in the .tlog mentioned above plus any other serial data received from the Pixhawk which might include non-MAVLink formatted messages like startup strings or debug output

If you wish to connect to the MAVProxy application that has been automatically started you can log into the RPi and type:

$ sudo screen -x

Update firmware:

$ sudo apt-get install rpi-update

$ sudo rpi-update

Disable LED:

Edit. /boot/config.txt

disable_camera_led=1

Start camera at boot

Edit: /etc/rc.local

(
  while : ; do
    /usr/bin/raspivid -t 0 -n -a 12 -b 2000000 -pf high --mode 5 -fps 30 -g 60 --flush -l -o tcp://0.0.0.0:5004
  done
) &

Note:

• Set bitrate: --bitrate, -b
• Listen on port: --listen, -l
• Rotation: -rot 180
• Specify the intra refresh period (key frame rate/GoP): --intra, -g
• Specify H264 profile to use for encoding (baseline, main, high): --profile, -pf
• Specifies the H264 encoder level to use for encoding. Options are 4, 4.1, and 4.2: --level, -lev -Sets the H264 intra-refresh type. Possible options are cyclic, adaptive, both, and cyclicrows: --irefresh, -if
• Video stabilization: --vstab, -vs
• Insert PPS, SPS headers: --inline, -ih
• Insert timing information into the SPS block: --spstimings, -stm
• Forces a flush of output data buffers as soon as video data is written: --flush, -fl

Using screen

Create: /home/pi/camerastart.sh

#!/bin/bash
while : ; do
  /usr/bin/raspivid -t 0 -n -a 12 -b 2000000 -pf high --mode 5 -fps 30 -g 60 --flush -l -o tcp://0.0.0.0:5004 -rot 180
done

$ sudo chmod +x /home/pi/camerastart.sh

Edit: /etc/rc.local

screen -dm -S mavlink camerastart

-d -m Start screen in "detached" mode

-S When creating a new session, this option can be used to specify a meaningful name for the session.

PC raw TCP receiver:

gst-launch-1.0.exe tcpclientsrc host=rpi2 port=5004 ! h264parse ! avdec_h264 ! videoconvert ! autovideosink sync=false

(gst-launch-1.0.exe tcpclientsrc host=rpi2 port=5004 ! decodebin ! videoconvert ! autovideosink sync=false)

Save to file whilst watching:

gst-launch-1.0.exe tcpclientsrc host=25.72.139.4 port=5004 ! tee name=t ! queue ! filesink location=c:\\temp\\video.h264 t. ! h264parse ! avdec_h264 ! videoconvert ! autovideosink sync=false

Convert to mp4:

ffmpeg -framerate 30 -i c:\\temp\\video.h264 -c copy c:\\temp\\video.mp4

--mode,    -md

Version 1.x (OV5647)

Version 2.x (IMX219)

raspi camera docs

Install GStreamer 1.0 (full):

$ sudo apt-get install \
    libgstreamer1.0-0 \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-plugins-ugly \
    gstreamer1.0-tools \
    gstreamer1.0-alsa \
    gstreamer1.0-gl \
    gstreamer1.0-pulseaudio

RaspberryPi RTP - UDP server:

$ raspivid -t 0 -n -a 12 -b 2000000 -pf high --mode 5 -fps 30 -g 60 --flush -rot 180 -o - | \
gst-launch-1.0 -e fdsrc ! h264parse ! rtph264pay pt=96 config-interval=5 ! udpsink host=#TARGETIP# port=5004

RTP-UDP client:

gst-launch-1.0.exe udpsrc port=5004 ! application/x-rtp,payload=96 ! rtpjitterbuffer ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! autovideosink sync=false

RaspberryPi RTP - TCP server:

$ raspivid -t 0 -n -a 12 -b 2000000 -pf high --mode 5 -fps 30 -g 60 --flush -rot 180 -o - | \
gst-launch-1.0 -e fdsrc ! h264parse ! rtph264pay config-interval=5 pt=96 ! gdppay ! tcpserversink port=5004 host=0.0.0.0`

RTP-TCP client:

gst-launch-1.0.exe tcpclientsrc host=25.72.139.4 port=5004 ! gdpdepay ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false

RaspberryPi Server

FLV-RTMP - Audio from USB mic:

raspivid --output - --mode 5 -pf high --nopreview --timeout 0 -fps 30 -g 60 --flush --annotate 12 -b 2000000 -rot 180 | \
ffmpeg -use_wallclock_as_timestamps 1 -thread_queue_size 1024 -f h264 -fflags nobuffer -framerate 30 -i - \
       -thread_queue_size 1024 -f alsa -ar 44100 -channel_layout mono -ac 1 -i hw:1,0 \
       -map 0:0 \
       -c:v copy \
       -map 1:0 \
       -c:a aac \
       -b:a 64k \
       -f flv rtmp://localhost/show/stream

FLV-RTMP - Fake audio:

raspivid --output - --mode 5 -pf high --nopreview --timeout 0 -fps 30 -g 60 --flush --annotate 12 -b 2000000 -rot 180 | \
ffmpeg -use_wallclock_as_timestamps 1 -thread_queue_size 1024 -f h264 -fflags nobuffer -framerate 30 -i - \
       -re -ar 44100 -channel_layout mono -ac 1 -acodec pcm_s16le -f s16le -i /dev/zero \
       -c:v copy \
       -c:a aac -b:a 64k \
       -f flv rtmp://localhost/show/stream

FLV-RTMP - No audio:

raspivid --output - --mode 5 -pf high --nopreview --timeout 0 -fps 30 -g 60 --flush --annotate 12 -b 2000000 -rot 180 | \
ffmpeg -use_wallclock_as_timestamps 1 -thread_queue_size 1024 -f h264 -fflags nobuffer -framerate 30 -i - \
       -c:v copy \
       -f flv rtmp://localhost/show/stream

FLV-TCP - No audio:

raspivid --output - --mode 5 -pf high --nopreview --timeout 0 -fps 30 -g 60 --flush --annotate 12 -b 2000000 -rot 180 | \
ffmpeg -use_wallclock_as_timestamps 1 -thread_queue_size 1024 -f h264 -fflags nobuffer -framerate 30 -i - \
       -c:v copy \
       -f flv tcp://0.0.0.0:5004?listen

FLV-TCP Client:

gst-launch-1.0.exe tcpclientsrc host=25.72.139.4 port=5004 ! flvdemux ! h264parse ! avdec_h264 ! videoconvert ! autovideosink sync=false

FLV-TCP Client + file:

gst-launch-1.0.exe -e tcpclientsrc host=25.72.139.4 port=5004 ! tee name=t  t. ! queue ! flvdemux ! h264parse ! avdec_h264 ! videoconvert ! autovideosink sync=false  t. ! queue ! filesink location=c:\\temp\\video.flv

server:

v4l2rtspserver /dev/video0,hw:1,0 -C 1

Note: latency is much less then using nginx RTMP

client:

VLC: rtsp://25.72.139.4:8554/unicast

$ sudo apt-get install pigpio

To automate running the daemon at boot time, run:

$ sudo systemctl enable pigpiod