This repository contains a watcher to be used to potentially automatically restart wifi on losing connection, and a script that connects to an onboard computer and sync the time on doing so.

In order for this script to work, please install expect package with sudo apt install expect

Remote conexion via wifi with QGC (EXECUTED IN REMOTE MACHINE)

mavproxy.py --master=/dev/ttyACM0 --baudrate 115200 --out 192.168.0.130:14550

In order to get a file via SCP from remote machine (EXECUTED IN GROUND MACHINE)

scp cvar@address.local:/path/file /home/user/destination/

In order to change fan control

Link to docs

Fan Profile Control

Jetson Orin supports two profiles of fan operation named quiet and cool

Userspace Fan speed control daemon nvfancontrol <#nvfancontrol>__ manages fan speed based on the trip point temperatures configured for the selected profile.

Fan Profile Configuration

Every fan speed step is associated with the trip point temperature and corresponding hysteresis.

The framework implements hysteresis to prevent frequent changes in fan speed. For Jetson Orin, as an example, when fan profile is set to “quiet� with the default settings shown above, the framework performs these actions:

• Turns on the fan when the temperature rises to 50\ |degC|
• Turns off the fan when the temperature falls to 32\ |degC|
• Turns on the fan again when the temperature rises to 50\ |degC|, and so on

nvfancontrol

nvfancontrol is a userspace fan speed control daemon. This manages Fan speed based on Temperature to Fan speed mapping table in nvfancontrol configuration file.

nvfancontrol.conf

• Location::

  /etc/nvfancontrol.conf

• Please find below the example nvfancontrol.conf file for the Jetson Orin::

  POLLING_INTERVAL 2
  <FAN 1>
      TMARGIN ENABLED
      FAN_GOVERNOR pid {
              STEP_SIZE 10
      }
      FAN_PROFILE cool {
              #TEMP   HYST    PWM     RPM
              0       0       255     2900
              18      9       255     2900
              30      11      202     2300
              45      11      149     1700
              60      14      88      1000
              105     0       0       0
      }
      FAN_PROFILE quiet {
              #TEMP   HYST    PWM     RPM
              0       0       202     2300
              18      9       202     2300
              30      11      158     1800
              45      11      114     1300
              60      14      62      700
              105     0       0       0
      }
      THERMAL_GROUP 0 {
              GROUP_MAX_TEMP 105
              #Thermal-Zone Coeffs Max-Temp
              CPU-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
              GPU-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
              SOC0-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
              SOC1-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
              SOC2-therm 20,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0
      }
      FAN_DEFAULT_CONTROL open_loop
      FAN_DEFAULT_PROFILE cool
      FAN_DEFAULT_GOVERNOR pid
      
  
  

Default Fan Profile

For Jetson Orin the fan profile is set to “coolâ€� by default. It is defined as FAN_DEFAULT_PROFILE in the configuration file /etc/nvfancontrol.conf.

To change the default fan profile

Please follow the below steps to change the Fan profile:

• Stop the nvfancontrol systemd service::

  sudo systemctl stop nvfancontrol

• Set the default fan profile by putting the following property in /etc/nvfancontrol.conf::

  FAN_DEFAULT_PROFILE <fan_profile>

Where <fan_profile> is quiet or cool.

• Remove the status file::

  sudo rm /var/lib/nvfancontrol/status

• Start the nvfancontrol systemd service::

  sudo systemctl start nvfancontrol

To identify the current fan profile

• Enter the command::

  $ sudo nvfancontrol -q

• Example::

  $ sudo nvfancontrol -q FAN1:FAN_PROFILE:cool ... ...

Once you set a fan profile, the module stays in that profile until you change it. The profile persists across power cycles.

Fan Profile Table

Fan profile table contains the mapping between temperature and PWM value. It also contains the hysteresis value for each step and the fan RPM value.

• Syntax::

    FAN_PROFILE <fan_profile_name> {
            <temp>  <hyst>  <pwm>   <rpm>
    }
  
    Where:
    <fan_profile_name>: Fan Profile Name
    <temp>: Temperation step in degree celcius
    <hyst>: Hysteresis step
    <pwm>:  Fan PWM value
    <rpm>:  Fan RPM value
  

• Example::

    FAN_PROFILE cool {
            #TEMP   HYST    PWM     RPM
            0       0       255     2900
            18      9       255     2900
            30      11      202     2300
            45      11      149     1700
            60      14      88      1000
            105     0       0       0
    }
  

Polling Interval

nvfancontrol daemon polls the thermal zone temperatures at the time interval specified by POLLING_INTERVAL and sets the Fan PWM value specified as per FAN PWM mapping table.

• Syntax::

  POLLING_INTERVAL <time_in_seconds>

Connect to PX4 remotely

In order to connect to PX4 with QGC remotely, follow three steps:

• Download mavproxy.py in the onboard computer: https://github.com/ArduPilot/MAVProxy/blob/master/MAVProxy/mavproxy.py or https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html
• In onboard computer: mavproxy.py --master=/dev/ttyACM0 --baudrate 115200 --out IP_QGC_MACHINE:14550 Beeing IP_QGC_MACHINE de ip direction of the machine executing QGC.
• In QGC: Application Settings -> Comm Links -> Add: Port 14550 UDP. Set a name and leave the rest empty.