Mavlink
Introduction
Build Mavlink connection between companion computer to flight controller
Refer to document: Ardupilot.org Companion Computers
Prerequirement
Hardware:
-
companion computer
- Rasbarry Pi zero 2w
- Radxa 5c (optional)
-
Flight controller
- Speedybee F405 mini
- Holybro 6c (optional)
Install System
caution
Always ensure your workspace is safe, power sources are controlled, and surroundings are clear before testing or experimentation.
- Pi Zero 2W
- Radxa 5C
- Optional: Enable auto-login to skip manual login
System Options -> Boot / Auto Login -> Console Autologin
OR
sudo mkdir -p /etc/systemd/system/[email protected]
cat <<EOF | sudo tee /etc/systemd/system/[email protected]/autologin.conf > /dev/null
[Service]
ExecStart=
ExecStart=-/sbin/agetty --autologin pi --noclear %I \$TERM
EOF
sudo systemctl daemon-reexec
sudo systemctl restart getty@tty1
- Update system
sudo apt update && sudo apt upgrade -y
- Install MAVLink support
pip install pymavlink
- Confirm work
python3 -c "from pymavlink import mavutil; print(' All working: pymavlink')"
- Check USB Info
ls /dev/ttyACM*
dmesg | grep ttyACM # cdc_acm 1-1:1.0: ttyACM0: USB ACM device
- mavlink connect
mavproxy.py --master=/dev/ttyACM0 --baud=115200 # mavlink connect
Reference document: ardupilot mavlink via pi
- Optional: Enable auto-login to skip manual login
System Options -> Boot / Auto Login -> Console Autologin
OR
sudo mkdir -p /etc/systemd/system/[email protected]
cat <<EOF | sudo tee /etc/systemd/system/[email protected]/autologin.conf > /dev/null
[Service]
ExecStart=
ExecStart=-/sbin/agetty --autologin pi --noclear %I \$TERM
EOF
sudo systemctl daemon-reexec
sudo systemctl restart getty@tty1
- Update system
sudo apt update && sudo apt upgrade -y
- Install MAVLink support
pip install pymavlink