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justinnuwin / NGCP-Capstone-UGV

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PixHawk Setup #12

Closed justinnuwin closed 4 years ago

justinnuwin commented 4 years ago

Deliverables:

justinnuwin commented 4 years ago

Using QGroundcontrol (QGC) to communicate with Pixhawk and update its firmware. https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html

justinnuwin commented 4 years ago

To implement Mavlink we'll have our computers act as the GCS (QGC) and communicate to the Nano running Mavros over the network

justinnuwin commented 4 years ago

@gencurio after you get QGC follow this to update the firmware on the PX4 https://docs.px4.io/v1.9.0/en/config/firmware.html

justinnuwin commented 4 years ago

Currently the architecture looks like so:

GSC ---network---> mavros (nano) ---> ROS ----usb nano------> LiDAR and ZED camera
                                       |
                                       |---microusb----> px4 ------> car and GPS
gencurio commented 4 years ago

Flashed ChibiOS- ArduRover V4.0.0 using QGroundControl v3.5.6 for MacOS

gencurio commented 4 years ago

Unable to arm pixhawk with driving commands from QGroundControl, QGC is aware that our test car doesn't have a GPS and has failsafes to prevent driving without a GPS.

gencurio commented 4 years ago

We are investigating using python-Dronekit library as a Ground Control Station so that we can avoid any failsafe features.

gencurio commented 4 years ago

Tiana mentioned that NGCP has spare GPS units if we need one for testing.

justinnuwin commented 4 years ago

We got the PX4 working, but we havn't cleared up uwhether they are using the PX4 or PixHawk mini.