Base OS Image configuration and auto build

[mhl787156]

Configuration and auto build system for base OS images

[rob-clarke]

k3s configuration in: /etc/rancher/k3s/config.yaml

Content:

node-label:
  - "starling.uas/type=vehicle"
node-taint:
  - "starling.uas/type=vehicle:NoSchedule"

[rob-clarke]

Add the chrony package and add to configuration in /etc/chrony/chrony.conf:

server ${TIMESERVER_IP} iburst prefer

Source IP from image build config?

[mhl787156]

Yes, thats a good idea. All drones are assumed to need a timeserver. Only exception is outdoors where drones may have internet? However outdoors will need extra configuration anyway, so that just needs to be added to the notes in the docs.

[liamf555]

Add RPI-GPIO to image

[rob-clarke]

Look at installing rootless docker in image

[mhl787156]

As of right now, here are the list of additional instructions that must be run on the current image (that Liam gave to me on Teams) which afaik only contains RPI-GPIO:

#1 make sure k3s_install.sh is executable
sudo chmod +x k3s_install.sh

#2 Put the px4 udev rules in the right place
# The file is from here: https://github.com/CopterExpress/clover/blob/master/clover/udev/99-px4fmu.rules
cp 99-pxfmu.rules /lib/udev/rules.d/

#3 Install Time synchonisation through Chrony
sudo apt-get install chrony
echo server 192.168.10.80 iburst prefer >> /etc/chrony/chrony.conf

#4 Update Docker Daemon to include the registry mirror
sudo cat <<EOF >/etc/docker/daemon.json
{
    "registry-mirrors": ["http://192.168.10.80:5000"]
}
EOF

#5 Add vehicle config template file with default values
sudo cat <<EOF >/etc/starling/vehicle.config
VEHICLE_FCU_URL=serial:///dev/px4fmu
VEHICLE_FIRMWARE=px4
VEHICLE_MAVLINK_SYSID=13
VEHICLE_NAME=clover13
EOF

#6 Enable i2c, 
echo dtparam=i2c_arm=on >> /boot/config.txt
echo dtparam=i2s=on >> /boot/config.txt
echo dtparam=spi=on >> /boot/config.txt

echo i2c-dev >> /etc/modules

7. Add shutdown button (#50)!

Put the following python script in the home directory shutdown.py.txt

And this in /lib/systemd/system/shutdown.service

[Unit]
Description=Shutdown Service
After=multi-user.target

[Service]
Type=simple
WorkingDirectory=/home/pi/
User=root
ExecStart=/usr/bin/python3 /home/pi/shutdown.py

[Install]
WantedBy=multi-user.target

Then run to ensure it automatically starts up sudo systemctl enable application.service

---

That is all the steps I have figured out so far I think and hopefully covers everything!

[mhl787156]

Also note for future readers, the configuration mentioned here: https://github.com/UoBFlightLab/ProjectStarling/issues/30#issuecomment-806024167

Has now been changed to:

starling.dev/type: vehicle
starling.dev/vehicle-class: rotary
starling.dev/vehicle-type: clover