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Merge branch 'CopterExpress:master' into ssh-advanced-setup
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@Qandra-Si
Qandra-Si authored Mar 9, 2024
2 parents c621e6d + cfeff0c commit eb7f018
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2 changes: 2 additions & 0 deletions clover/CMakeLists.txt
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Expand Up @@ -30,6 +30,8 @@ find_package(catkin REQUIRED COMPONENTS

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")

# https://github.com/mavlink/mavros/blob/7f1a8/mavros/CMakeLists.txt#L42
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/share/cmake/geographiclib")
find_package(GeographicLib REQUIRED)

# Workaround for OpenCV 3/4 support
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18 changes: 0 additions & 18 deletions clover/cmake/FindGeographicLib.cmake
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36 changes: 29 additions & 7 deletions docs/en/connection.md
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Expand Up @@ -6,37 +6,59 @@ In order to program [autonomous flights](simple_offboard.md), [work with Pixhawk

USB connection is the preferred way to connect to the flight controller.

<img src="../assets/assembling_clever4/usb_connection_1.png" alt="USB connection" height=400 class="zoom border center">

1. Connect your FCU to the Raspberry Pi using a microUSB to USB cable.
2. [Connect to the Raspberry Pi over SSH](ssh.md).
3. Make sure the connection is working by [running the following command on the Raspberry Pi](ssh.md):
3. Make sure that the connection is working properly by [running the following command on the Raspberry Pi](cli.md):

```bash
rostopic echo /mavros/state
```

The `connected` field should have the `True` value.s
The `connected` field should have the `True` value.

> **Hint** You need to set the `CBRK_USB_CHK` [parameter](parameters.md) to 197848 for the USB connection to work.

## UART connection

<!-- TODO: Connection scheme -->

UART connection is another way for the Raspberry Pi and FCU to communicate.

<img src="../assets/raspberry-uart-telemetry2.png" alt="UART connection via TELEM2" height=400 class="zoom border center">

If the pin marked GND is occupied, you can use any other ground pin (look at the [pinout](https://pinout.xyz) for reference).

1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
2. In PX4 of version v1.9.0 or higher, set parameter values: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version [prior to v1.9.0](https://github.com/mavlink/qgroundcontrol/issues/6905#issuecomment-464549610) the parameter `SYS_COMPANION` should be set to `Companion Link (921600 baud, 8N1)`, to set it correctly use the old version of QGC [v3.3.1](https://github.com/mavlink/qgroundcontrol/releases/tag/v3.3.1).
3. [Connect to the Raspberry Pi over SSH](ssh.md).
4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
4. Check the presence of the parameters `enable_uart=1` and `dtoverlay=pi 3-disable-bt` in the file `/boot/config.txt` by [running the following command on the Raspberry Pi](cli.md):

```bash
cat /boot/config.txt | grep -E "^enable_uart=.|^dtoverlay=pi3-disable-bt"
```

If the parameters in the file are different or missing, then edit the file and restart the Raspberry Pi.

5. Change the connection type from `usb` to `uart` in the Clover' launch file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
```xml
<arg name="fcu_conn" default="uart"/>
```
Be sure to restart the `clover` service after editing the .launch file:
If you change the launch file, you need to restart the `clover' service:

```bash
sudo systemctl restart clover
```

6. Make sure that the connection is working properly by running the following command:

```bash
rostopic echo -n1 /mavros/state
```

The `connected` field should have the `True` value.

Read more in the PX4 docs: https://docs.px4.io/main/en/peripherals/serial_configuration.html.

**Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)
32 changes: 27 additions & 5 deletions docs/ru/connection.md
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Expand Up @@ -6,9 +6,11 @@

Основным способом подключения является подключение по интерфейсу USB.

<img src="../assets/assembling_clever4/usb_connection_1.png" alt="Подключение по USB" height=400 class="zoom border center">

1. Соедините Raspberry Pi и полетный контроллер micro-USB to USB кабелем.
2. [Подключитесь в Raspberry Pi по SSH](ssh.md).
3. Убедитесь в работоспособности подключения, [выполнив на Raspberry Pi](ssh.md):
3. Убедитесь в работоспособности подключения, [выполнив команду на Raspberry Pi](cli.md):

```bash
rostopic echo /mavros/state
Expand All @@ -20,14 +22,24 @@

## Подключение по UART

<!-- TODO схема подключения -->
Дополнительным способом подключения является подключение по интерфейсу UART.

<img src="../assets/raspberry-uart-telemetry2.png" alt="Подключение UART через TELEM2" height=400 class="zoom border center">

Дополнительным способом подключения является подключение подключение по интерфейсу UART.
Если обозначенный пин GND занят, можно использовать другой свободный, используя [распиновку](https://pinout.xyz).

1. Подключите Raspberry Pi к полетному контроллеру по UART. Для этого соедините кабелем порт TELEM 2 на полетном контроллере к пинам на Raspberry Pi следующем образом: черный провод (GND) к Ground, зеленый (*UART_RX*) к *GPIO14*, желтый (*UART_TX*) к *GPIO15*. Красный провод (*5V*) подключать не нужно.
2. Измените значения параметров PX4: `MAV_1_CONFIG` на TELEM 2, `SER_TEL2_BAUND` на 921600 8N1. В PX4 до версии v1.10.0 необходима установка параметра `SYS_COMPANION` в значение 921600.
2. В PX4 версии v1.9.0 и выше измените значения параметров PX4: `MAV_1_CONFIG` на TELEM 2, `SER_TEL2_BAUND` на 921600 8N1. В PX4 [до версии v1.9.0](https://github.com/mavlink/qgroundcontrol/issues/6905#issuecomment-464549610) необходима установка параметра `SYS_COMPANION` в значение `Companion Link (921600 baud, 8N1)`, для его корректной установки используйте старую версию QGC [v3.3.1](https://github.com/mavlink/qgroundcontrol/releases/tag/v3.3.1).
3. [Подключитесь в Raspberry Pi по SSH](ssh.md).
4. Поменяйте в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) тип подключения на UART:
4. Проверьте наличие параметров `enable_uart=1` и `dtoverlay=pi3-disable-bt` в файле `/boot/config.txt`, [выполнив команду на Raspberry Pi](cli.md):

```bash
cat /boot/config.txt | grep -E "^enable_uart=.|^dtoverlay=pi3-disable-bt"
```

Если параметры в файле отличаются или отсутствуют, то отредактируйте файл и перезагрузите Raspberry Pi.

5. Поменяйте в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) тип подключения с `usb` на `uart`:

```xml
<arg name="fcu_conn" default="uart"/>
Expand All @@ -39,4 +51,14 @@
sudo systemctl restart clover
```

6. Убедитесь в работоспособности подключения:

```bash
rostopic echo -n1 /mavros/state
```

Поле `connected` должно содержать значение `True`.

Дополнительная информация: https://docs.px4.io/main/en/peripherals/serial_configuration.html.

**Далее**: [Подключение QGroundControl по Wi-Fi](gcs_bridge.md).

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