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SnapFlightSetup.md

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Flash the base SnapDragon Flight (SDF)

  • Request access to snapdragon_flight_setup folder (contains platform BSP, firmware, etc)
  • Apply wall power to vehicle.
  • Connect Micro-USB 2.0 cable to SDF to use as the Android Debug Bridge (ADB).
  • Confirm blue "breathing" LED on SDF.

On your laptop add correct rules to /etc/udev/rules.d by creating a file, e.g. /etc/udev/rules.d/98-flight-pro.rules, with the following lines:

SUBSYSTEM=="usb", ATTR{idVendor}=="05c6", MODE="0666", GROUP="plugdev"
SUBSYSTEM=="usb", ATTR{idVendor}=="18d1", MODE="0666", GROUP="plugdev"

Restart udev and install platform BSP

sudo udevadm control --reload-rules && udevadm trigger
sudo apt install zip unzip default-jdk android-tools-adb
cd snapdragon_flight_setup
unzip Flight_3.1.3.1_JFlash.zip
cd Flight_3.1.3_JFlash
./jflash.sh
cd ..
  • After flashing is complete: SDF led will begin pulsing green. Wait until SDF led is pulsing blue before continuing
  • If led is not pulsing blue (likely green), power cycle the vehicle. Disconnect both usb and power. First plug in the power and then the micro usb.

DSP firmware

unzip Flight_3.1.3.1_qcom_flight_controller_hexagon_sdk_add_on.zip
cd Flight_3.1.3.1_qcom_flight_controller_hexagon_sdk_add_on
./installfcaddon.sh
  • If the above fails, run ./installfcaddon.sh again

Copy snav_setup & snav_debs folder onto the board

adb push snav_setup /home/linaro/snav_setup
adb push snav_debs /home/linaro/snav_debs

Setup Networking

  • vehicle id is represented by "$1"...replace all "$1" text with actual vehicle id
adb shell
export HOME=/home/linaro/
sudo hostname dragonfly$1
vi /etc/hostname
  • replace 'linaro-developer' with: dragonfly$1

Update dpkg

cd ~/snav_debs
sudo dpkg -i dpkg_1.17.5ubuntu5.8_armhf.deb

Steps for using Ubiquiti Bullet router which resolves hostname to IPs

cd ~/snav_setup
cp interfaces-mast /etc/network/interfaces
cp wpa_supplicant.conf-mast /etc/wpa_supplicant/wpa_supplicant.conf
/usr/local/qr-linux/wificonfig.sh -s station
echo "wireless-power off" >> /etc/network/interfaces.d/.qca6234.cfg.station
sudo halt
  • make sure to unplug both power and adb line
  • some bullet routers are set with mac filtering. ask admin to add the mac address to bullet router settings

Check SSH

  • unpower the vehicle and remove ADB cable
  • repower the vehicle
  • (password: linaro)
ssh linaro@dragonfly$1
  • If ssh fails, likely the hostname is not resolving.
  • Only for 18.04 (on laptop)
sudo ln -sf /run/systemd/resolve/resolv.conf /etc/resolv.conf

Another issue with ssh ssh Connection closed by port 22

adb shell
ssh-keygen -t dsa -f /etc/ssh/ssh_host_dsa_key
ssh-keygen -t rsa -f /etc/ssh/ssh_host_rsa_key

Set the vehicle in performance mode (enables 2 additional cores)

sudo chown -R linaro:linaro ~/snav_setup
cd ~/snav_setup
chmod +x setperfmode.sh
sudo ./setperfmode.sh
  • ignore "Invalid argument" write error

Install machine vision, snav, snav-esc

cd ~/snav_debs
sudo dpkg -i mv_1.1.9_8x74.deb
sudo dpkg -i snav_1.2.59_8x74.deb
sudo dpkg -i snav-esc_1.2.0.deb

Install Qualcomm license

cd ~/snav_setup
sudo mkdir -p /opt/qcom-licenses/
sudo cp snapdragon-flight-license.bin /opt/qcom-licenses/
  • Power the board through ESC (likely needs a battery) Flash the ESC
sudo cp flash_esc_firmware.xml /usr/share/data/adsp/snav_params.xml
sudo stop snav
sudo snav
  • Once the ESC flash is complete, the low power warning (fast double beeps) will start. Then type - Ctrl+C

For DragonDDK vehicle

sudo cp snav_params_ddk.xml /usr/share/data/adsp/snav_params.xml

For dragonfly (230) vehicle

sudo cp snav_params_230.xml /usr/share/data/adsp/snav_params.xml

For tiercel vehicle

sudo cp snav_params_tiercel.xml /usr/share/data/adsp/snav_params.xml

Following enables Snapdragon VIO app with downward facing camera. Without the downward flag, downward camera mounted with 45 deg tilt is used.

cd /etc/snav
sudo ./configure_vio.sh -c downward

sudo stop snav
sudo start snav
sudo snav_calibration_manager -s
  • Above command does a static IMU calibration
  • Update vehicle specific parameters...vehicle length dx, dy, basethrust in /usr/share/data/adsp/snav_params.xml
  • Vehicle should be flyable with RC at this point

If needed perform dynamic calibration with props mounted.

sudo snav_calibration_manager -d
  • Warning!! Vehicle will automatically takeoff and land after few mins. Make sure you have copied the correct snav_params files.

Disable snav apps (snav_dft, snav_dft_vio, snav_dft_vio_apriltag, snav_voa). This allows external ROS interfaces we use to have acess to the camera/imu. (Note, dynamic calibration won't work after these apps are disabled)

cd /etc/snav
sudo ./disable_apps.sh

Update package listing

  • This step assumes the vehicle has an internet connection!!!
sudo apt-get update
  • If you get a NO_PUBKEY error with a alphanumeric key, run:
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys <key>

Install ROS

  • This step assumes the vehicle has an internet connection!!!
cd ~/snav_setup
chmod +x ros_setup_snap.sh
./ros_setup_snap.sh $1

Copy config files

ssh linaro@dragonfly$1
cd ~/snav_setup
cp _tmux1.8.conf ~/.tmux.conf
cp _bash_aliases ~/.bash_aliases
cp _vimrc ~/.vimrc
  • basic installation complete

Create ros workspace (Make sure you are not sudo)

source ~/.bashrc
mkdir -p ~/ws_ros/src
cd ~/ws_ros
catkin init
catkin config -DCMAKE_BUILD_TYPE=Release -j3
catkin build
echo "source /home/linaro/ws_ros/devel/setup.bash" >> /home/linaro/.bashrc

Clone ATLFlight repos

mkdir -p ~/ws_ros/src/snap
cd ~/ws_ros/src/snap
git clone https://github.com/ATLFlight/snap_msgs
git clone https://github.com/ATLFlight/snav_msgs
git clone https://github.com/ATLFlight/snap_vio
git clone https://github.com/ATLFlight/snap_cpa
git clone https://github.com/ATLFlight/qflight_descriptions
git clone https://github.com/ATLFlight/dfs-ros-example
git clone https://github.com/ATLFlight/snav_ros
git clone https://github.com/ATLFlight/snav_fci
git clone https://github.com/ATLFlight/snap_cam_ros
git clone -b fix/publish_rate https://github.com/tdinesh/snap_imu

cd ~/ws_ros/src/snap/snap_cam_ros
git submodule update --init
cd ~/ws_ros/src/snap/snav_ros
git submodule update --init

Clone opencv/image_transport repos

  • Clone and select correct branch (currently Indigo if available).
cd ~/ws_ros/src
git clone -b indigo https://github.com/ros-perception/vision_opencv.git
git clone -b indigo-devel https://github.com/ros-perception/image_transport_plugins.git
git clone -b hydro-devel https://github.com/ros-perception/image_common.git

Clone KumarRobotics repos

git clone https://github.com/KumarRobotics/quadrotor_control.git
cd ~/ws_ros/src/quadrotor_control
git submodule update --init

Clone vio_qc packages. If you dont have git access skip to next step

cd ~/ws_ros/src
git clone -b version_12 https://github.com/loiannog/vio_qc.git

Copy ukf_packages.zip into ~/ws_ros/src folder and unzip.

  • For example, from your laptop copy over the file.
scp ukf_packages.zip linaro@dragonfly$1:~/ws_ros/src/
  • Then from the device unzip and clean up.
unzip ukf_packages.zip
rm ukf_packages.zip

Clone launch files repo

cd ~/ws_ros/src
git clone https://github.com/tdinesh/snavquad_interface.git

Assign swap space.

  • If you compiling large templated libraries, sometimes the board will run out of memory.
  • Use following command to assign swap space to be used as virtual memory
sudo fallocate -l 1G /mnt/1GB.swap
sudo chmod 600 /mnt/1GB.swap
sudo mkswap /mnt/1GB.swap
sudo swapon /mnt/1GB.swap
# TO Make swap permanent
sudo cp /etc/fstab /etc/fstab.bak
echo '/mnt/1GB.swap none swap sw 0 0' | sudo tee -a /etc/fstab

Compile ROS Packages

  • Run a fan while compiling (onboard or offboard) to avoid damaging the board.
cd ~/ws_ros
catkin build -c
  • Grab a cup of coffee; this will take about 40 minutes.

Setup Camera IDs

echo "export HIRES_CAM_ID=0" >> ~/.bashrc
echo "export TRACKING_CAM_ID=1" >> ~/.bashrc
echo "export STEREO_CAM_ID=3" >> ~/.bashrc

Setup MAV properties type, mass and board_type

  • MAV_TYPE can be 230, ddk or tiercel based on the frame.
  • Set MAV_MASS=0.24 for dragonfly(230) platform, MAV_MASS=0.45 for ddk platform, MAV_MASS=0.191 for Tiercel.
  • Tray type can be sdf_tray, sdf_tray_45, sdf_pro

For dragonfly

echo "export MAV_TYPE=230" >> ~/.bashrc
echo "export MAV_MASS=0.245" >> ~/.bashrc
echo "export MAV_BOARD=sdf_tray" >> ~/.bashrc
echo "export IMU_1_USED=false" >> ~/.bashrc

For ddk

echo "export MAV_TYPE=ddk" >> ~/.bashrc
echo "export MAV_MASS=0.45" >> ~/.bashrc
echo "export MAV_BOARD=sdf_tray" >> ~/.bashrc
echo "export IMU_1_USED=false" >> ~/.bashrc

For Tiercel

echo "export MAV_TYPE=tiercel" >> ~/.bashrc
echo "export MAV_MASS=0.191" >> ~/.bashrc
echo "export MAV_BOARD=sdf_tray" >> ~/.bashrc
echo "export IMU_1_USED=false" >> ~/.bashrc

Internal VIO and other apps have to be disabled to allow access to camera/imu.

cd /etc/snav
sudo ./disable_apps.sh

Always stop/start Snapdragon Navigator snav before starting a new flight. There is a bash alias restart_snav that combines the two commands. This command also attempts to start any other processes that are configured to autostart.

restart_snav

Use helper tmux scripts to launch necessary launch files. Create symbolic links in home folder

cd ~/
ln -s ws_ros/src/snavquad_interface/scripts/tmux_snav.sh tmux_snav.sh