# 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) --- Remote access ```bash ssh ncrl@192.168.43.90 ``` Check serial port name - two radio (qgc, gcs), one uart (mavlink) ```bash ls /dev/tty* ``` --- ### UAV Platform (Orin NX) 1. Update code ```bash 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 ```bash sudo chmod 777 /dev/ttyMav /dev/ttyUAV /dev/ttySiyi ``` 3. Start Mavros & Offboard node ```bash 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 ```bash python3 telem_uav.py -s u ``` 5. Siyi camera control & stream ```bash python3 siyi_control_remote.py python3 camera_rtsp_ros.py ``` 7. Record rosbag ```bash roslaunch tracking_experiment rosbag.launch ``` ### Ground Control Station (PC) Telemetry radio ```bash sudo chmod 777 /dev/ttyUSB0 python3 telem_gcs.py -s 0 ```