Differences
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multicamera_pixracer_connection [2019/12/15 16:26] wf68spef created |
multicamera_pixracer_connection [2020/02/28 16:17] (current) wf68spef |
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| ====== Setup ====== | ====== Setup ====== | ||
| - | SITL computer/Simulated Pixracer (Pi4) | + | ==== SITL computer/Simulated Pixracer (Pi4) ====Ìý |
| install ardupilot | install ardupilot | ||
| Line 14: | Line 15: | ||
| sudo raspi-config | sudo raspi-config | ||
| + | Interfaces => Serial | ||
| disable login on serial "NO" | disable login on serial "NO" | ||
| enable hardware serial "YES" | enable hardware serial "YES" | ||
| Line 29: | Line 31: | ||
| https://ardupilot.org/dev/docs/learning-ardupilot-uarts-and-the-console.html | https://ardupilot.org/dev/docs/learning-ardupilot-uarts-and-the-console.html | ||
| start simulatiom | start simulatiom | ||
| - | sim_vehicle.py -w -v ArduPlane -A "--uartC=uart:/dev/ttyS0" --console --map | + | sim_vehicle.py -w -v ArduPlane -A "--uartC=uart:/dev/ttyS0:9600" --console --map |
| wp load Tools/autotest/CMAC-circuit.txt | wp load Tools/autotest/CMAC-circuit.txt | ||
| mode auto | mode auto | ||
| arm throttle | arm throttle | ||
| - | Companion Computer (Pi Zero / Pi3) | + | ==== Companion Computer (Pi Zero / Pi3) ====Ìý |
| Wireing | Wireing | ||
| __Serial Data (mavlink)__ | __Serial Data (mavlink)__ | ||
| Line 46: | Line 49: | ||
| - | raspi config | + | sudo raspi-configÌý |
| + | Interfaces => Serial | ||
| disable login on serial "NO" | disable login on serial "NO" | ||
| enable hardware serial "YES" | enable hardware serial "YES" | ||
| Line 69: | Line 73: | ||
| ====== Output ====== | ====== Output ====== | ||
| Pi4: | Pi4: | ||
| + | <code> | ||
| wp load Tools/autotest/CMAC-circuit.txt | wp load Tools/autotest/CMAC-circuit.txt | ||
| MANUAL> Loaded 8 waypoints from Tools/autotest/CMAC-circuit.txt | MANUAL> Loaded 8 waypoints from Tools/autotest/CMAC-circuit.txt | ||
| Line 108: | Line 113: | ||
| APM: Mission: 3 WP | APM: Mission: 3 WP | ||
| ... | ... | ||
| + | </code> | ||
| Pi Zero: | Pi Zero: | ||
| + | <code> | ||
| INFO:root:2019-12-15T15:04:13.362813.jpg captured (lon:149.1645948 , lat:-35.3649894) | INFO:root:2019-12-15T15:04:13.362813.jpg captured (lon:149.1645948 , lat:-35.3649894) | ||
| DEBUG:root:pixhawk GPS msg:(lon:149.1645419 , lat:-35.3647957) | DEBUG:root:pixhawk GPS msg:(lon:149.1645419 , lat:-35.3647957) | ||
| Line 123: | Line 129: | ||
| DEBUG:root:pixhawk GPS msg:(lon:149.1642417 , lat:-35.3634208) | DEBUG:root:pixhawk GPS msg:(lon:149.1642417 , lat:-35.3634208) | ||
| DEBUG:root:pixhawk GPS msg:(lon:149.1642162 , lat:-35.3632233) | DEBUG:root:pixhawk GPS msg:(lon:149.1642162 , lat:-35.3632233) | ||
| - | Ìý | + | </code>Ìý |
| - | Pi3: | + | Pi3:Ìý |
| + | <code> | ||
| INFO:root:2019-12-15T15:04:13.611948.jpg captured (lon:149.1644866 , lat:-35.3646023) | INFO:root:2019-12-15T15:04:13.611948.jpg captured (lon:149.1644866 , lat:-35.3646023) | ||
| DEBUG:root:pixhawk GPS msg:(lon:149.1644332 , lat:-35.3644077) | DEBUG:root:pixhawk GPS msg:(lon:149.1644332 , lat:-35.3644077) | ||
| Line 136: | Line 143: | ||
| DEBUG:root:pixhawk GPS msg:(lon:149.1642162 , lat:-35.3632233) | DEBUG:root:pixhawk GPS msg:(lon:149.1642162 , lat:-35.3632233) | ||
| DEBUG:root:pixhawk GPS msg:(lon:149.1641924 , lat:-35.3630252) | DEBUG:root:pixhawk GPS msg:(lon:149.1641924 , lat:-35.3630252) | ||
| + | </code> | ||
| ====== Result ====== | ====== Result ====== | ||