Navio2 with Raspberry Pi 3 B+ for the Ardupilot flight controller setup

Load the Raspberry Pi Image provided by Emlid which has ROS and ardupilot pre-installed.

Controller Setup

Component/Part Name Documentation/Link Description
NAVIO2 Kit Ardupilot Navio2 Overview Sensor HAT for Pi
CanaKit Raspberry Pi 3 B+ Pi & Navio2 Setup Compute for flight
DJI F330 Flamewheel (or similar ARF Kit) Copter Assembly guide Frames, Motors, ESCs, Propellers
Radio Controller (Transmitter) Review of the RC products RC Transmitter
ELP USB FHD01M-L36 Camera ELP USB Webcam 2MP

IMG_20180821_151617446

Ardupilot

Verify 
(cv2) pi@nava:~/workspace/cnaviz/imcol $ ps -eaf | grep ardu
root 1909 1 0 16:36 ? 00:00:00 /bin/sh -c /usr/bin/arducopter $TELEM1 $TELEM2
root 1910 1909 15 16:36 ? 00:15:48 /usr/bin/arducopter -A udp:172.31.254.175:14550

Examples

Setup a Python 2 environment and clone Navio 2 repository

sudo apt-get install build-essential libi2c-dev i2c-tools python-dev libffi-dev
mkvirtualenv cv2 -p python2
pip install smbus-cffi
git clone https://github.com/emlid/Navio2.git
cd Navio2
Run tests
(cv2) pi@nava:~/Navio2/Python $ emlidtool test
2018-08-20 19:03:23 nava root[2337] INFO mpu9250: Passed
2018-08-20 19:03:23 nava root[2337] INFO adc: Passed
2018-08-20 19:03:23 nava root[2337] INFO rcio_status_alive: Passed
2018-08-20 19:03:23 nava root[2337] INFO lsm9ds1: Passed
2018-08-20 19:03:23 nava root[2337] INFO gps: Passed
2018-08-20 19:03:23 nava root[2337] INFO ms5611: Passed
2018-08-20 19:03:23 nava root[2337] INFO pwm: Passed
2018-08-20 19:03:23 nava root[2337] INFO rcio_firmware: Passed
Ardupilot should be stopped while running the Navio2 tests
sudo systemctl stop arducopter
Barometer
(cv2) pi@nava:~/Navio2/Python $ python Barometer.py
Temperature(C): 39.384754 Pressure(millibar): 1010.329778
Temperature(C): 39.333014 Pressure(millibar): 1010.368464
Accelerometer
(cv2) pi@nava:~/Navio2/Python $ python AccelGyroMag.py -i mpu
Selected: MPU9250
Connection established: True
Acc: -2.442 +9.428 +0.958 Gyr: -0.030 +0.011 -0.010 Mag: -3489.829 +30.680 +0.000
Acc: -2.504 +9.596 +1.063 Gyr: -0.023 +0.004 -0.012 Mag: -55.946 +6.677 +31.255
Acc: -2.346 +9.495 +0.924 Gyr: -0.023 +0.007 -0.007 Mag: -57.394 +5.955 +31.255
Acc: -2.370 +9.567 +1.020 Gyr: -0.030 +0.006 -0.014 Mag: -55.765 +6.497 +30.731
GPS
(cv2) pi@nava:~/Navio2/Python $ python GPS.py
gpsFix=0
Longitude=0 Latitude=0 height=0 hMSL=-17000 hAcc=4294967295 vAcc=4082849024
gpsFix=0
Longitude=0 Latitude=0 height=0 hMSL=-17000 hAcc=4294967295 vAcc=4083043328
ADC
(cv2) pi@nava:~/Navio2/Python $ python ADC.py
A0: 5.0100V A1: 0.0440V A2: 0.0160V A3: 0.0160V A4: 0.0180V A5: 0.0220V
A0: 5.0370V A1: 0.0440V A2: 0.0180V A3: 0.0140V A4: 0.0160V A5: 0.0240V
A0: 5.0370V A1: 0.0440V A2: 0.0160V A3: 0.0140V A4: 0.0160V A5: 0.0240V
LED
(cv2) pi@nava:~/Navio2/Python $ sudo python LED.py
LED is yellow
LED is green
LED is cyan
LED is blue
LED is magenta
LED is red
LED is yellow
LED is green
LED is cyan

 

Leave a Reply

Fill in your details below or click an icon to log in:

WordPress.com Logo

You are commenting using your WordPress.com account. Log Out /  Change )

Google photo

You are commenting using your Google account. Log Out /  Change )

Twitter picture

You are commenting using your Twitter account. Log Out /  Change )

Facebook photo

You are commenting using your Facebook account. Log Out /  Change )

Connecting to %s