Currently in development phase ...
Tracks object pose according to the pilot specification to generate a cinematographic shot for broadcast rovers and buggies.
This is a detailed guide on how to set up buggy , MCU , Onboard comp and Gimbal configurations.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
The project is being built on the following hardware and software.
MCU - STM32 F411RE
ONBOARD COMPUTER -
CPU - Intel Core i5-8250U @ 8x 3.4GHz
GPU - Mesa Intel(R) UHD Graphics 620 (KBL GT2)
KERNEL - x86_64 Linux 5.6.15-1-MANJARO
( Will be later implemented on NVIDIA JETSON)
GIMBAL - ALEXMOS 3 AXIS GIMBAL
CAMERA - Webcam (prototype).
( Later to be implemented on GoPro Variant )
BUGGY - Simple RC Car ( Prototype )
( Will be later implmented on RC ROVER )
If you decide to use PLATFORM IO do the following things else scroll down for STM32Cube Instructions.
Install PlatformIO VSCODE ( a workspace file is provided, you should see the extensions buttons and all ... if not navigate to /code/gimbal_control(ie the MCU code) there then try again )
You may get the error while uploading.
Error: libusb_open() failed with LIBUSB_ERROR_ACCESS
try the following things
Install this software.
Quick and dirty fix.
Run
lsusb
Output will be ( stm debugger needs to be connected, of course)
Bus 001 Device 013: ID 0483:374b STMicroelectronics ST-LINK/V2.1
Then run this command ( Properly enter bus ID and device ID whatever pops up above)
sudo chmod 666 /dev/bus/usb/001/013
Permanent Fix Firmware file needs to be edited ... Run these commands
cd /etc/udev/rules.d
sudo nano 99-openocd.rules
Type this content ( pleas verify idVendor and idProduct from lsusb )
Should mostly work without verification.
For Debian Derivatives
# STLink v2
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", MODE="664", GROUP="plugdev"
For Arch Derivatives
# STLink v2
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", GROUP="uucp"
If using Arch you also need to add the group uucp to your user by :
sudo gpasswd -a youruser uucp
And RESTART YOUR DEVICE IN ALL CASES.
Please use windows the Linux versions suck , ( as of writing ), didnt find much issues during installation, u are in windows world lookup (although highly unlikely any issues) !!
Python Libs - I have written the entire code in a Python Virtual Environment Upto u to install In the sys or USE venv Either way Run
pip install -r requirements.txt
inside code in oscar. Should get stuff up and running.
Install FFmpeg
sudo snap install ffmpeg
For debian derivatives, for more info checkout this unofficial documentation.
A step by step series of examples that tell you how to get a development env running
MCU Connections
Periferals
UART Gimbal TX ( PA 12 ) ( ORANGE WIRE )
UART Gimbal RX ( PA 11 ) ( YELLOW WIRE )
UART OBCOMP TX ( PA 3 )
UART OBCOMP RX ( PA 2 )
UART STLINK/DEBUGGER TX ( PA10 )
UART STLINK/DEBUGGER RX ( PA9 )
LONGITUDINAL(F/B) MOTOR INPUT PWM - PC 9 ( Purple/Violet Wire )
LONGITUDINAL(F/B) MOTOR DIr IP 1 - PB 1 ( Blue Wire )
LONGITUDINAL(F/B) MOTOR DIr IP 2 - PB 15 ( Green Wire )
LATERAL(L/R) MOTOR INPUT PWM - PB 8
LATERAL(L/R) MOTOR DIr IP 1 - PB 14
LATERAL(L/R) MOTOR DIr IP 2 - PB 13
& Just for reference the 
Onboard Computer Connections
Connecting Wifi to gopro and setting respective proirities ...
sudo nano /etc/wpa_supplicant/wpa_supplicant.conf
And put this with your respective wifi ssid and pwd. ( note only works for raspian os, you may also wanna put this hierarchial order to choose which wifi to connect 1st )
network={
ssid="MyWiFi"
psk="MyPassword"
key_mgmt=WPA-PSK
}
you can run
sudo iw dev wlan0 scan | grep SSID
to see which SSIDs are available on Rpi network.
and run
iw wlan0 link
to see which wifi youre connected to.
Serial Comms :
Simple USB to TTL Adapter ( as of now ).
Set the appropriate port in comArduino2.py at the end of file.
Open device manager, see com port.
ls /dev/tty*
the port index you get tttyUSBX
Gimbal Installation
- RC2-1 : pitch
- RC2-2 : roll
- RC2-3 : yaw
Connect UART accordingly to the STM.
Gimbal inversion using Olliw's GUI ( Ver 0.96).
MAVLINK setup and usage.
Camera Installation
See Type
ls /dev/video*
You will get /dev/videox
try removing webcam
run command
plug cam
run command
Get the x val
Nav to code/tests/camtesting.py
Set camera source index as x
And run . Your cam should fire and you should be able to see the output feed.
python3 camtesting.py
The new index will be the index of Webcam to be added cam Source to main.py.
Buggy installation
Nil as of now.
Onboard Computer and GUI installation
Nav to /code/pilotdash
python3 plottingFromFile.py
This gives me raw and filtered(if any) trajectory of the last motion.
python3 splinePlot.py
This gives me interpolated curves for the coeffs in splineCoeffs.txt
Explain how to run the automated tests for this system
Explain what these tests test and why
In the main.py file in /vision Make the following changes and run the program.
INCLUDE_STM = False
Doing this will run the default vision algo code on your default webcam. If fails to open Camera put 1,2,3 ...
VID_SRC = 0
Simply power it on it should be inverted and work something like this ( wait a few 15-30 secs for it to self calibrate. )
Make sure all periferals are Connected.
LEDS will blink thrice 2 times.
The first set indicates it has Started setup and second state is being used for debugging purpose.
Nav to vision
Run ComArduino2.py (setup appropriate ports).
Check if opencv is installed correctly
run
python -c "import cv2; print(cv2.getBuildInformation())" | grep -i ffmpeg
it should return
FFMPEG: YES
Explain what these tests test and why
Give an example
Add additional notes about how to deploy this on a live system
Make sure you do this and appropriately setup UART port of obcomp in ComArduino2.py
INCLUDE_STM = True
Run the main.py python file. After the setup ends of the MCU it will send an ACK command to the OBCOMP. Till then it will wait for MCU setup to complete.
Once individual testing is done.
Gimbal should move or nod itself in all dirs.
Hit reset again just to be sure.
yet to be implemented.
- Dropwizard - The web framework used
- Maven - Dependency Management
- ROME - Used to generate RSS Feeds
Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.
We use SemVer for versioning. For the versions available, see the tags on this repository.
See also the list of contributors who participated in this project.
This project is licensed under the MIT License - see the LICENSE.md file for details
- Hat tip to anyone whose code was used
- For this readme Template PurpleBooth
- Inspiration
- etc