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DroneProject3

Connect Odroid

  1. Connect to remote computer to qtcopter Wi-Fi.
  2. Connect remote computer via SSH to Odroid:

ssh [email protected]

(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-tk

For showing video in the GCS you must install:

pip install Pillow

if you get "ImportError: cannot import name ImageTk" , run:

sudo apt-get install python-imaging-tk

Install serial:

sudo pip install pyserial

Install MAVProxy:

sudo pip install MAVProxy

Connect MAVProxy from Odroid to Pixhawk via (1) Telem or (2) USB

mavproxy.py --master=/dev/ttyACM0 --baudrate 115200
mavproxy.py --master=/dev/ttyUSB0 --baudrate 57600

If 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-pexpect

or wait for this fix of mavproxy: ArduPilot/MAVProxy#258

Possible new GUI + assync UDP design:

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 <[email protected]> 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

  1. Remove props
  2. Turn on RC
  3. Throttle to MAX
  4. Connect battery
  5. Notice LED pattern (Blue,Red,Green)
  6. Disconnect battery
  7. Re-connect battery
  8. Press the safety switch
  9. Wait for single beep
  10. Throttle to MIN
  11. Wait for three beeps
  12. Disconnect battery

tutorial link: https://www.youtube.com/watch?v=Hl-Q7RPOn18