PX4 install and flash of software

Currently we work with 1.14. 1.15 has new updates to the ROS2 interface with its own client. Which is not implemented yet. The software can be downloaded with git clone -b release/1.14 https://github.com/PX4/PX4-Autopilot.git --recursive This has to be fully tested in a docker container The modification of the PX4 software is located in bluerov2common ROS2 package (git@github.com:constructor-robotics/bluerov2common.git)

Ip address on BlueROV: 192.168.10.11

PX4 Commands

Show all Topics: uorb top Print special Topic listener <TOPIC> Baro: ms5611 status or ms5611 start/stop -X -X/-S external und -I/-s Internal

Raspberry pi Settings for PX4 things(prob old)

MicroXRCEAgent serial --dev /dev/ttyACM0 -b 921600 maybe add ROS_DOMAIN_ID here uxrce_dds_client start -t serial -d /dev/ttyS2 -b 921600

MAV_1_CONFIG = 0 (Disabled)
UXRCE_DDS_CFG = 102 (TELEM2)
SER_TEL2_BAUD = 921600
UXRCE_DDS_KEY = 1
UXRCE_DDS_DOM_ID = 161
UXRCE_DDS_AG_IP = 170524894

Network setup for the ethernet

This needs to go to /fs/microsd/net.cfg on the SD card by writing this to the console.

echo DEVICE=eth0 > /fs/microsd/net.cfg
echo BOOTPROTO=fallback >> /fs/microsd/net.cfg
echo IPADDR=192.168.10.11 >> /fs/microsd/net.cfg
echo NETMASK=255.255.255.0 >> /fs/microsd/net.cfg
echo ROUTER=192.168.10.1 >> /fs/microsd/net.cfg
echo DNS=1.1.1.1 >> /fs/microsd/net.cfg

Micro-XRCE-DDS-Agent Install

In CMakeLists.txt change the 2.12.x to 2.12.1

git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/