Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
Loading...
X9D+ RC controller
Switch on RC
If Schalter fehlpositioniert: switch SD up
Press Menu
Use +/- to navigate to Billie
Press Enter
Navigate to 'Kopiere Model'
Press Enter
Use +/- to navigate to free slot
Press Enter
Navigate to Billie copy
Press Enter
'Modell auswaehlen'
Press Enter
Press Page
change model name
go down to 'Empfaenger Nummer'
change 'Empfaenger Nummer' to slot number (number in front of model name)
Configuration of the RC is possible through OpenTX companion software too.
PixRacer firmware version 4.0.9
Micro USB cable
QGroundControl installed
time: 30 min
SD card 8 GB
PixRacer
Start QGroundControl
Connect PixRacer with USB cable
Check message log for ArduPlane version
Log should contain a message with "ArduPlane V4.0.9"
Start QGGroundControl
Open Vehicle Setup menu
Open Firmware menu
Follow instruction for firmware upgrade
Download parameters from Gitlab
Upload Parameters
Start QGC
connect Pixracer via USB
Go to Menu->VehicleSetup->Parameters->Tools->Load from File
Choose file "LATEST.params"
do not panic! confirm need to reboot (many times)
Reboot via Tools->Reboot
TODO
Make sure to use the right device. If you use a wrong device you might format your laptops hard disk!
On Linux:
identify device with lsblk
this example will use sda
create partition table with:
sudo parted /dev/sda --script -- mklabel msdos
create partition with 100% FAT32:
sudo parted /dev/sda --script -- mkpart primary fat32 1MiB 100%
Format partition:
sudo mkfs.vfat -F32 /dev/sda1
On Windows:
right-click on device and use GUI
Configure the SYSID_THISMAV parameter with QGC:
Go to Menu -> VehicleSetup -> Parameters
Search for SYSID_THISMAV
Configure a unique SYSID
Document usage in the table below
check current version in text file on SD card
X9D+ RC controller
Mini USB cable
Start RC controller in debug mode by holding both horizontal trimmer buttons pressed towards the center while switching it on.
Connect RC controller via USB.
Extract the ZIP file to the root/top level folder of the microSD Card.
Disconnect the USB.
Press ENT in order to write the new firmware.
Restart.
UAV | SYSID |
---|---|
Find newest version for model X9DP and download SD content ()
Add telemtry scripts (copy content of to SD card)
Copy new firmware file 'opentx-x9d+-eu-lua-de-2.x.yz-otx' (where to download? did it with the Companion software, see e.g. here ) to the FIRMWARE directory on the SD card.
With a model set up (), press MENU and navigate to the model, press PAGE 13 times until you see 'Telemetry pages', navigate down to 'Page: 1', press ENT and PLUS (3 times) til 'Script', ENT, MINUS, ENT, select 'yaapu9' and ENT. Telemetry should be set up now.
Maggy
1
Elly
2
30 Minutes
1xWaveshare Board CM4-IO-BASE-B
1xRaspberry CM4 Board
1xUSB-C Cable
1xSW-AP1 Router (for wifi login)
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
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
Connect cameras with thin camera cables
You can access each camera via its hostname:
or
Check for new images using pi webserver
Open webbrowser
Go tohttp:\\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
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
Stop payload as it uses serial port already
Connect to the flightcontroller via mavproxy
After a few seconds, the connection should be established
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
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
Bind receiver to RC
R-XSR receiver
connection cable to PixRacer <-> R-XSR receiver
X9D+ RC controller
If it doesn't work, update receiver as below!
connect the receiver to the PixRacer (not powered)
while holding the small button on the receiver, turn on the PixRacer
All three LEDs are now on (not flashing)
Turn on the receiver
Press Menu
Choose the desired model
Press page (page 2 / 13)
scroll down to "receiver" / BIND
Press Enter
Press Enter (cf. Figure above)
The receiver will start peeping.
Immediately the red LED on the receiver should start blinking.
Press Enter to leave binding mode
Turn the PixRacer off and on - the LED of the receiver should light blue and green.
Press Exit twice to reach final testing.
Looks like this? Your're done!
If the receiver doesn't bind to the remote control, the firmware of the receiver and RC might be not compatible, the used receiver FrSky R-XSR might need a firmware update:
To flash the receiver you need:
Taranis 9D+
R-XSR
included connection cable
On the included jumper cable, you have to swap the red (5V) and black cable (GND) as in the picture.
To flash the firmware (frk file) you have to upload the file to your RC first. Either connect it via USB cable to your PC - or use the SD Card of the RC:
Upload the frk file to the "FIRMWARE" folder
you can download the firmware here: https://www.frsky-rc.com/r-xsr/
the current used version (EU-LBT) can be found here:
connect the receiver
turn on the RC
Long Press MENU
Press Page
choose "FIRMWARE"
choose the right FRK File
Long Press Enter
choose "flash external receiver"
press Enter
After flashing, try to BIND the receiver again.
PixRacer with ArduPilot installed
ESP
Micro USB cable
External USB power supply
Laptop with QGroundControl
Linux users can use the commandline if the ESP is connected to a serial adapter:
Insert the ESP as seen below into the pixracer
connect from your PC to the wifi access point (initial access point ID is either “ArduPilot” with password "ardupilot" or "Pixracer" with password “pixracer”)
click on the “Setup” link
set config
AP SSID := dronenameRacer (replace "dronename" with your real drone name)
AP Password := cassandra
baudrate := 921600
push the “Save” button and reboot the device
Power the PixRacer with an external power supply (do not connect USB to your PC)
Connect to the new WiFi with name "<drone_name>Racer"
Open QGroundControl and check if you receive telemetry data via WiFi
Open the "Vehicle Setup" menu and check if you can configure the ESP through the ESP configuration menu
These settings apply to QGC running on Tablets or Laptops
QGroundControl doesn't have permission to serial port, even when user is part of 'dialout' group? Remove package brltty with: 'sudo apt remove brltty'.
Default allowed maximum range from the plane to next Go To Location is 1000m
Set it to a more reasonable value
Open "Application Settings"
Goto "General" section
Set "Got To Location Max Distance" to 50000m or more
Open "Application Settings"
Goto "General" section
Set suitable path
Enable the red marked entrys
RFD868+ radio
USB to serial adapter for RFD868+ radio
Laptop with minicom or RFDDesign setup tool
QGroundcontrol doesn't have permission to access the serial port, even if the user is part of 'dialout' group? Remove package brltty with: 'sudo apt remove brltty'. This is a ubuntu problem.
install a jumper between pin 4 and 6
Connect the modem to the computer
using the provided USB-Serial adapter
OR: using the pin description above for your USB-Serial adapter
Connect to the modem using a serial console on your computer
Baudrate: 57600
Get into configuration mode
During startup press "+++"
"OK" should appear to be able to change the configuration
Change parameters
Should look like this:
Download the firmware:
Download the `uploader.py` script from the open source SiK firmware:
Install pymavlink and pyserial:
Flash/upload the firmware to a connected device:
Use hints from
open a browser to and a simple web interface will appear
Download latest clonezilla image from
Install image to the laptop using this instructions
How to plan a mission see
How to analyze images using the Laptop see
More info can be found in
Check for firmware Version 1.91 (28-05-2022) with command "ATI". Firmware files and tools are found here:
Command | Hint |
AT&F | factory reset parameters |
ATS4=20 | (PLANE) set txpower to 20dbm/100mW |
ATS4=30 | (GROUNDSTATION) set txpower to 30dbm/1000mW |
ATS6=1 | set data protocol type to MAVLINK |
AT&W | write current changes to EEPROM |
ATZ | reboot |
ATI5 | check if changed values are set |