Setup payload Pi Computers
Time required
30 Minutes
Parts required
1xWaveshare Board CM4-IO-BASE-B
1xRaspberry CM4 Board
1xUSB-C Cable
1xSW-AP1 Router (for wifi login)
Flash image to board
Flash image to SD Card
e.g. using Etcher Tool https://www.balena.io/etcher/
or using dd in *NIX systems https://www.raspberrypi.org/documentation/installation/installing-images/linux.md
Configure
Login to pi via ssh to the default dronename from the image:
or via IP (get from router)
Do first boot setup:
Dronename is set in this script
Partition /data is resized to full disk size
Testing
Login
Connect cameras with thin camera cables
You can access each camera via its hostname:
or
Camera image taking
Check for new images using pi webserver
Open webbrowser
Go to
http:\\perlman
Click on
0_latest.jpg@
The most recent image should appear (and can be refreshed using browser refresh / F5-key)
You can also check if new images appear in the main list
For debugging you check output of the image payload:
If the progress is stopped, most probably the pi camera cable isnt working properly
DHT22
Currently no ROS payload is available so we need to test by hand (from https://learn.adafruit.com/dht-humidity-sensing-on-raspberry-pi-with-gdocs-logging/python-setup)
Run testdh22.py
Flightcontroler / Pixracer Mavlink connection
Stop payload as it uses serial port already
Connect to the flightcontroller via mavproxy
Receive Mavlink
After a few seconds, the connection should be established
Transmit Mavlink
On the Pi with RX/TX connected to the pixracer you can now test TX
Set the plane to Manual Mode
Set
mode MANUAL by writing to the prompt:
Observe if the output is as following:
The plane should be now in manual mode
Debugging (deprecated)
using searchwing-pi repo / searchwing-payload-camera
set
LOGGER_LEVEL = "DEBUG"
in/home/searchwing/searchwing-pi/configuration.toml
restart:
sudo systemctl restart searchwing-payloads-camera.service
Check output
using mavlink-router stats per port
enable mavlink-router stats printing in
/etc/mavlink-router/config.d/main.conf
[General]
ReportStats=true
MavlinkDialect=auto
restart mavlink-router:
sudo systemctl restart mavlink-router.service
Check output
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