定翼機通訊UAV

Check List

cuav radio 地面端
siyi camera + uart2usb + ethernet cable
usb hub x1 (備)
4 cell 鋰電池 x1
3 cell 鋰電池 x1
rtk + 腳架
筆電
筆電充電器 (備)
行充 (備)
type-c 線 (備)
螢幕 (備)
鍵盤滑鼠接收器 (備)

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Remote access

ssh ncrl@192.168.43.90

Check serial port name

• two radio (qgc, gcs), one uart (mavlink)

ls /dev/tty*

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UAV Platform (Orin NX)

1. Update code

cd ~/uav_ws
rm -r devel/ build/

cd ~/uav_ws/src
git clone https://github.com/NCTU-NCRL/uav_tracking_experiment.git

cd ..
catkin_make
source ~/.bashrc

2. Change port permission

sudo chmod 777 /dev/ttyMav /dev/ttyUAV /dev/ttySiyi

3. Start Mavros & Offboard node

roslaunch tracking_experiment mavros_px4.launch
roslaunch tracking_experiment navigation.launch

# check is mavros ready
rostopic echo /uav0/mavros/state
# waypoints file
roscd tracking_experiment/config
vim params_waypoints.yaml

4. Telemetry radio

python3 telem_uav.py -s u

5. Siyi camera control & stream

python3 siyi_control_remote.py
python3 camera_rtsp_ros.py

7. Record rosbag

roslaunch tracking_experiment rosbag.launch

Ground Control Station (PC)

Telemetry radio

sudo chmod 777 /dev/ttyUSB0
python3 telem_gcs.py -s 0