Blog Entry #8 - Dylan Haley - How to implement and setup Ardupilot


Required Hardware

  • Pixhawk
  • Raspberry Pi
  • Router

Required Software 

  • QGroundControl
  • Raspberry Pi Companion Computer software 
  • Ardupilot (ArduRover/Sub/Copter etc.)

Installing Companion Computer Software

  1. Insert a microSD with a minimum of 4GB into a laptop. 
  2. Download and install the Companion software image from the ardusub website        (https://www.ardusub.com/quick-start/installing-companion.html)
  3. Download and install Etcher.
  4. Open Etcher and select the image file and your SD card.
  5. Click 'Flash'
  6. The SD card is now ready to go into the raspberry Pi


Installing QGroundControl

  1. Go to the ardusub website to find the download link for QGroundControl (https://www.ardusub.com/quick-start/installing-qgc.html)
  2. After it is installed open QGroundControl.


Installing Ardupilot

  1. Open QGroundControl, select 'Vehicle setup' and then select 'Firmware'.
  2. Connect the pixhawk to the laptop using the given usb cable. 
  3. In the firmware setup box, select you verion of ardupilot. For our project we select 'ArduPilot Flight Stack', then 'ChibiOS' and finally 'ArduRover'.
  4. Click OK


Setup QGroundControl

  1. In 'Vehicle setup' select 'Frame' and select the 'Rover' frame.
  2. Then Select 'Sensors' to calibrate your sensros.
  3. After this select 'Parameters'.
  4. In the search bar type 'SERVO1_FUNCTION' and click on it.
  5. In the parameter editor in the drop-down menu select 'ThrottleLeft'.
  6. Go back to the search bar and type 'SERVO3_FUNCTION' and click on it.
  7. In the parameter editor in the drop-down menu select 'ThrottleRight'.


Setup Router

  1. Connect laptop to router WiFi.
  2. Log on to routers IP.
  3. Configure the router to give out IP addresses between the range of 192.168.2.3 -  192.168.2.14
  4. For more info on how to do this checkout Niklas Blog.


Setup Wireless connection between QGroundControl and Companion Computer

  1. Connected Raspberry Pi to power source.
  2. Connect Pixhawk to Raspberry Pi.
  3. Connect Raspberry Pi to the router with a LAN cable.
  4. Connect laptop with QGroundControl to router WiFi.
  5. Open QGroundControl.
  6. QGroundControl will connect to the companion computer and you will see you vehicle on the map.
Path Planning
Now the vehicle is set-up and ready for path planning. In QGroundControl simply select plan in the top left corner of the map and then select file -> survey. This will allow you to plot waypoints on the map and you can then upload the file to the pixhawk and arm the vehicle in auto mode for the vehicle to begin the path

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