PilotPi 使用 Ubuntu Server 操作系统

WARNING

Ubuntu Server on RPi 4B consumes a lot of current and generates a lot of heat. Design for better heat dissipation and high power consumption when using this hardware.

开发者快速指南

操作系统映像

请从官方 cdimage 页面获取最新更新的操作系统。

armhf

• Ubuntu Server 18.04.5 for RPi2
• Ubuntu Server 18.04.5 for RPi3
• Ubuntu Server 18.04.5 for RPi4
• Ubuntu Server 20.04.1 for RPi 2/3/4

arm64

• Ubuntu Server 18.04.5 for RPi3
• Ubuntu Server 18.04.5 for RPi4
• Ubuntu Server 20.04.1 for RPi 3/4

最新操作系统

Please refer to official cdimage page for any new updates.

首次启动

When setting up RPi's WiFi for the first time we recommended using a wired Ethernet connection between your home router and RPi, and a monitor and keyboard.

启动前

现在将 SD 卡插入您的 Pi 并首次开机。 Please follow the official instruction here.

Now plug the SD card onto your Pi and boot for the first time. Make sure you have shell access to the RPi - either SSH connection over wired Ethernet, or direct accessing with keyboard and monitor.

WiFi 区域

First install required package:

sudo apt-get install crda

Edit the file /etc/default/crda to change the correct WiFi region. Reference List

sudo nano /etc/default/crda

让我们先设置主机名。

主机名和 mDNS

Let's set up hostname at first.

sudo nano /etc/hostname

Change the hostname to whatever you like. Then install the package required by mDNS:

sudo apt-get update
sudo apt-get install avahi-daemon

在上述操作后通过无线网络重新连回树莓派。

sudo reboot

您也可能想要设置 无密码认证。

ssh ubuntu@pi_hostname.local

无密码认证(可选)

You may want to setup passwordless auth as well.

配置操作系统

config.txt

The corresponding file in Ubuntu is /boot/firmware/usercfg.txt.

sudo nano /boot/firmware/usercfg.txt

将文件内容替换为：

# enable sc16is752 overlay
dtoverlay=sc16is752-spi1
# enable I2C-1 and set the frequency to 400KHz
dtparam=i2c_arm=on,i2c_arm_baudrate=400000
# enable spidev0.0
dtparam=spi=on
# enable RC input
enable_uart=1
# enable I2C-0
dtparam=i2c_vc=on
# switch Bluetooth to miniuart
dtoverlay=miniuart-bt

cmdline.txt

在Ubuntu Server 18.04 或更早版本，nobtcmd.txt 和 btcmd.txt 都需要修改。

sudo nano /boot/firmware/cmdline.txt

On Ubuntu Server 18.04 or earlier, nobtcmd.txt and btcmd.txt should both be modified.

sudo nano /boot/firmware/nobtcmd.txt

Find console=/dev/ttyAMA0,115200 and remove that part to disable the login shell on serial interface.

Append isolcpus=2 after the last word. 我们将在稍后手动在该核心运行PX4。

net.ifnames=0 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 elevator=deadline rootwait fixrtc isolcpus=2

The above line tells the Linux kernel do not schedule any process on CPU core 2. 我们将在稍后手动在该核心运行 PX4。

检查串口：

检查串口：

ls /dev/tty*

There should be /dev/ttyAMA0, /dev/ttySC0 and /dev/ttySC1.

检查 I2C：

ls /dev/i2c*

There should be /dev/i2c-0 and /dev/i2c-1

应该有 /dev/spidev0.0。

ls /dev/spidev*

There should be /dev/spidev0.0.

rc.local

In this section we will configure the auto-start script in rc.local. Note that we need to create this file, as it is not present on a fresh Ubuntu OS.

sudo nano /etc/rc.local

Append the content below to the file:

#!/bin/sh

echo "25" > /sys/class/gpio/export
echo "in" > /sys/class/gpio/gpio25/direction
if [ $(cat /sys/class/gpio/gpio25/value) -eq 1 ] ; then
        echo "Launching PX4"
        cd /home/ubuntu/px4 ; nohup taskset -c 2 ./bin/px4 -d -s pilotpi_mc.config 2 &> 1 > /home/ubuntu/px4/px4.log &
fi
echo "25" > /sys/class/gpio/unexport

exit 0

保存并退出。 Then set the correct permissions:

sudo chmod +x /etc/rc.local

INFO

Don't forget to turn off the switch when it is not needed!

CSI 相机

WARNING

Enable CSI camera will stop anything works on I2C-0.

sudo nano /boot/firmware/usercfg.txt

或

start_x=1

构建代码

To get the very latest version onto your computer, enter the following command into a terminal:

git clone https://github.com/PX4/PX4-Autopilot.git --recursive

INFO

This is all you need to do just to build the latest code.

配置上传

然后上传：

export AUTOPILOT_HOST=192.168.X.X

或

export AUTOPILOT_HOST=pi_hostname.local

在 PX4-Autopilot 文件夹下执行：

export AUTOPILOT_USER=ubuntu

为 armhf 目标交叉编译

PX4 已配置使用多旋翼模型启动。

cd Firmware
make scumaker_pilotpi_default

Then upload it with:

make scumaker_pilotpi_default upload

备选armhf构建方法 (使用 docker)

If you are compiling for the first time with docker, please refer to the official docs.

如果您是首次使用 Docker 进行编译，请参考官方说明。

./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_default upload"

INFO

mDNS is not supported within docker. 您也可以自己创建一个。

INFO

If your IDE doesn't support ninja build, NO_NINJA_BUILD=1 option will help. You can compile without uploading too. Just remove upload target.

It is also possible to just compile the code with command:

./Tools/docker_run.sh "make scumaker_pilotpi_default"

为arm64交叉编译

INFO

This step requires aarch64-linux-gnu tool-chain to be installed.

PX4 已配置使用多旋翼模型启动。

cd PX4-Autopilot
make scumaker_pilotpi_arm64

Then upload it with:

make scumaker_pilotpi_arm64 upload

备选 arm64 构建方法 (使用 docker)

If you are compiling for the first time with docker, please refer to the official docs.

Execute the command in PX4-Autopilot folder:

./Tools/docker_run.sh "export AUTOPILOT_HOST=192.168.X.X; export AUTOPILOT_USER=ubuntu; export NO_NINJA_BUILD=1; make scumaker_pilotpi_arm64 upload"

INFO

mDNS is not supported within docker. 您也可以自己创建一个。

INFO

If your IDE doesn't support ninja build, NO_NINJA_BUILD=1 option will help. You can compile without uploading too - just remove the upload target.

It is also possible to just compile the code with command:

./Tools/docker_run.sh "make scumaker_pilotpi_arm64"

手动运行 PX4

Connect over SSH and run it with:

cd px4
sudo taskset -c 2 ./bin/px4 -s pilotpi_mc.config

在执行下一步之前，先清除现有构建目录：

If you encountered the similar problem executing bin/px4 on your Pi as following:

bin/px4: /lib/xxxx/xxxx: version `GLIBC_2.29' not found (required by bin/px4)

如果您是首次使用 Docker 进行编译，请参考官方说明。

在 PX4-Autopilot 文件夹下执行：

rm -rf build/scumaker_pilotpi_*

Then go back to the corresponding chapter above.

后期配置

Please refer to the instructions here