From fe1cc50a5ef4864a46a90ad54170a04dc09e0659 Mon Sep 17 00:00:00 2001 From: Misko Date: Sun, 3 Mar 2024 12:31:56 -0800 Subject: [PATCH] half way configuring rover1 --- .../rover/rover_v3.1/README.md | 67 ++ .../rover/rover_v3.1/device_mapping.sh | 1 + .../rover_v3.1/low_power_disconnect_setup | 5 - .../rover_v3.1/rover3_base_parameters.params | 863 ++++++++++++++++++ .../rover/rover_v3.1/setup.sh | 30 +- .../rover/rover_v3.1/sikradio.jpg | Bin 0 -> 93710 bytes 6 files changed, 959 insertions(+), 7 deletions(-) create mode 100644 data_collection_model_and_results/rover/rover_v3.1/device_mapping.sh delete mode 100644 data_collection_model_and_results/rover/rover_v3.1/low_power_disconnect_setup create mode 100644 data_collection_model_and_results/rover/rover_v3.1/rover3_base_parameters.params create mode 100644 data_collection_model_and_results/rover/rover_v3.1/sikradio.jpg diff --git a/data_collection_model_and_results/rover/rover_v3.1/README.md b/data_collection_model_and_results/rover/rover_v3.1/README.md index 5c78e03c..c1808ed1 100644 --- a/data_collection_model_and_results/rover/rover_v3.1/README.md +++ b/data_collection_model_and_results/rover/rover_v3.1/README.md @@ -14,6 +14,73 @@ Youtube [link](https://youtu.be/6D6IM0DY81c) ![flash with wifi settings](./flash_pi2.png) +### USB port setup + +``` + +USB 4 | USB 3 + +USB 2 | USB 1 + +Ethernet + +``` + +### Taranis Q setup + +``` +Setup (Internal RF) +XJT D16 +Ch Range CH1-16 + +Binding +Press bind, beeping starts +With receiver off, hold down F/S button, power on while holding, let go 1 second later +Solid green/red -> no connection +Flashing green/red -> connection established +Reset receiver +Press ok on controller +Try moving around controller sticks to see X8R light go green + + +Input 1 -> 100 Rud +Input 2 -> 100 Ele +Input 3 -> 100 Thr +Input 4 -> 100 Alie + +CH 1 -> 100 Ail +CH 2 -> 100 Ele +CH 3 -> 100 Thr +CH 4 -> 100 Rud +CH 5 -> 100 SF + + +``` + +### SikRadio + +[screen shot](./sikradio.jpg) +https://www.youtube.com/watch?v=i5lE2cWJJhM +Connect using mission planner +Set different NetIDs for each pair +Make sure to copy over settings +``` +Rover 1 -> NetID 25 +Rover 2 -> NetID 32 +Rover 3 -> NetID 39 +``` + + +### Low power disconnect programming + +``` +press up to 5s + +press hold set 5s +use up down to set UP to 12.1v +press set +use up down to set DOWN to 12.0v +``` + ### Rover 1 ``` diff --git a/data_collection_model_and_results/rover/rover_v3.1/device_mapping.sh b/data_collection_model_and_results/rover/rover_v3.1/device_mapping.sh new file mode 100644 index 00000000..d72487a2 --- /dev/null +++ b/data_collection_model_and_results/rover/rover_v3.1/device_mapping.sh @@ -0,0 +1 @@ +lsusb -t | grep usb-storage | sed 's/.*Port \([0-9]*\): Dev \([0-9]*\),.*/\1 \2/g' \ No newline at end of file diff --git a/data_collection_model_and_results/rover/rover_v3.1/low_power_disconnect_setup b/data_collection_model_and_results/rover/rover_v3.1/low_power_disconnect_setup deleted file mode 100644 index 8bf070d6..00000000 --- a/data_collection_model_and_results/rover/rover_v3.1/low_power_disconnect_setup +++ /dev/null @@ -1,5 +0,0 @@ -press up to 5s + -press hold set 5s -use up down to set UP to 12.1v -press set -use up down to set DOWN to 12.0v diff --git a/data_collection_model_and_results/rover/rover_v3.1/rover3_base_parameters.params b/data_collection_model_and_results/rover/rover_v3.1/rover3_base_parameters.params new file mode 100644 index 00000000..0fd6cb61 --- /dev/null +++ b/data_collection_model_and_results/rover/rover_v3.1/rover3_base_parameters.params @@ -0,0 +1,863 @@ +# Onboard parameters for Vehicle 1 +# +# Stack: ArduPilot +# Vehicle: Rover +# Version: 4.4.0 +# Git Revision: 9279df61 +# +# Vehicle-Id Component-Id Name Value Type +1 1 ACRO_TURN_RATE 180.000000000000000000 9 +1 1 AHRS_COMP_BETA 0.100000001490116119 9 +1 1 AHRS_EKF_TYPE 3 2 +1 1 AHRS_GPS_GAIN 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1 WP_PIVOT_RATE 60 4 +1 1 WP_RADIUS 0.500000000000000000 9 +1 1 WP_SPEED 3.000000000000000000 9 +1 1 WRC_ENABLE 0 2 diff --git a/data_collection_model_and_results/rover/rover_v3.1/setup.sh b/data_collection_model_and_results/rover/rover_v3.1/setup.sh index 7d439de2..9987d917 100644 --- a/data_collection_model_and_results/rover/rover_v3.1/setup.sh +++ b/data_collection_model_and_results/rover/rover_v3.1/setup.sh @@ -1,12 +1,38 @@ +#assign the rover its ID +rover_id=1 +echo ${rover_id} > ~/rover_id + sudo apt-get update sudo apt-get install git screen libiio-dev libiio-utils vim -y + +# virtual enviornment setup python -m venv ~/spf-virtualenv source ~/spf-virtualenv/bin/activate git clone https://github.com/misko/spf.git cd spf pip install -r requirements.txt -export PYTHONPATH=/home/pi/spf -#roverpi2 + +echo export PYTHONPATH=/home/pi/spf >> ~/.bashrc +echo 'test -z "$VIRTUAL_ENV" && source ~/spf-virtualenv/bin/activate' >> ~/.bashrc +echo "lsusb -t | grep usb-storage | sed 's/.*Port \([0-9]*\): Dev \([0-9]*\),.*/\1 \2/g' > ~/device_mapping" >> ~/.bashrc + +# lets get eth0 to static ip +cat > interfaces <<- EOM +source /etc/network/interfaces.d/* + +auto eth0 +iface eth0 inet static + address 192.168.1.__ROVERID__/24 + gateway 192.168.1.1 +EOM +sed -i "s/__ROVERID__/$(expr 40 + ${rover_id})/g" interfaces +sudo cp -f interfaces /etc/network/interfaces + + +# disable wifi so it wont interfere +sudo sh -c 'echo dtoverlay=disable-wifi >> /boot/config.txt' + + (spf-virtualenv) pi@roverpi2:~/spf/spf $ sudo iio_info -s Library version: 0.24 (git tag: v0.24) diff --git a/data_collection_model_and_results/rover/rover_v3.1/sikradio.jpg b/data_collection_model_and_results/rover/rover_v3.1/sikradio.jpg new file mode 100644 index 0000000000000000000000000000000000000000..568da27e3e28c63ed5f9c7b798e18dcb5d9b7514 GIT binary patch literal 93710 zcmeEubzD{3)Ay#46afKA3F$@}4xqG1NT-T4hwcU?q#FqV=?>`ywCf2|GJyc=A6CHTC--pGi%nY*>le2_~mD8n7EUPAppq90So{DpaRHn 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