RaspberryPi connect pixhawk via Mavlink

# RaspberryPi connect pixhawk via Mavlink ###### tags: `Drone` ![](https://i.imgur.com/NZKlg6X.png) ## Install MAVProxy **Install MAVproxy python tool within python3 for Linux / Ubuntu** ``` sudo apt-get install python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame ``` ``` sudo pip3 install PyYAML mavproxy --user ``` ``` echo "export PATH=$PATH:$HOME/.local/bin" >> ~/.bashrc ``` * [MAVProxy document](https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html#mavproxy-downloadinstalllinux) ## Set Serial Open the rasberrypi configure ``` sudo raspi-config ``` select “Interfacing Options”. Then “Serial”. Select =="no"==. >When prompted, select =="no"== to “Would you like a login shell to be accessible over serial?”. >When prompted, select =="yes"== to “Would you like the serial port hardware to be enabled?”. Reboot the Raspberry Pi when you are done. check the serial ``` cat /boot/config.txt ``` The Raspberry Pi’s serial port will now be usable on /dev/serial0. ## Connect >To test the RPi and flight controller are able to communicate with each other first ensure the RPi and flight controller are powered, then in a console on the RPi type: ``` sudo -s ``` ``` python3 mavproxy.py --master=/dev/serial0 --baudrate 57600 --aircraft MyCopter ``` ``` param show ARMING_CHECK ``` ``` param set ARMING_CHECK 0 ``` * [Communicating with Raspberry Pi via MAVLink](https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html) --- ## Control Commands * Mode list ``` mode ``` * Select the mode ( ex. STABILIZE ) ``` mode STABILIZE ``` * Unlock safety button ``` arm safetyoff ``` * Lock the safetybutton ``` arm saftyon ``` * arm check ``` arm throttle ``` > * Run the mission ``` python mission.py --connect /dev/serial0 ``` ## Tutorial Video ### Setting up RaPi and Pixhawk {%youtube DGAB34fJQFc %} ### Testing with Dronekit SITL and RaPi {%youtube 7QDb2SuUVsw %} ### Dronekit python autostart {%youtube ELa6w6Z6mws %} ### Dronekit mission {%youtube 2_ltk5nqWTk %} ## Reference * [Communicating with Raspberry Pi via MAVLink](https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html) * [MAVProxy document](https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html#mavproxy-downloadinstalllinux) * [MAVlink document](https://ardupilot.org/dev/docs/mavlink-basics.html) * [Dennis Baldwin](https://gist.github.com/dbaldwin) * [Dennis Baldwin's Video](https://www.youtube.com/user/dennisbaldwin) * [NXP-HoverGames Drone Ecosystem](https://www.nxp.com/applications/industrial/aerospace-and-mobile-robotics/hovergames-drone-ecosystem:HOVERGAMES-DRONE-SYSTEM)