tcheehow / air

air

Git Branching Strategy

Reference: http://bitstopixels.blogspot.sg/2017/05/a-git-branching-strategy-for-react.html

master: this is the development branch, used to test new code in the gazebo simulator before pushing it to the UAV

dtss-mini: no feature development or bug fixes. only used to do adjustments specific to the mini

dtss-mega: no feature development or bug fixes. only used to do adjustments specific to the mega

Connecting the TROne to Pixhawk 2.1

The Teraranger One (TROne) communicate to the Pixhawk 2.1 via I2C Bus. There are 3 buses on the Pixhawk, Bus 1 (in GPS 1), Bus 2 (in I2C 2) and Bus 3 (in GPS 2).

Since the Pixhawk is currently programmed to only scan I2C Bus 1, we will connect the TROne to the I2C pins inside the GPS 1 port.

This TROne is used for native altitude filtering by the Pixhawk.

*Note the altitude is only published as local_position_z_ned when the UAV is armed in altitude, position control, loiter, auto or offboard mode.

Telemetry Radio

The companion computer link to the Pixhawk occupies the default TELEM2 port assigned for telemery radio. A quick workaround is to connect the radio to TELEM1 port instead.

A new startup script have to be added at \etc\extras.ext\ to change the baudrate and rates of the telemetry radio.

TROne I2C Address

The I2C address of the TROne can be changed to the following convention

 Front

(35) --- (30) (34) --- (31) - - - (33) --- (32)

Pixhawk 2.1 Amendments for Offboard Control

# std of xy-pose estimate
param set LPE_VIS_XY 0.1

# somehow needed for fusion
param set FAKE_ORIGIN 1

# fuse vision yaw
param set ATT_EXT_HDG_M 1
param set ATT_W_HDG 1.0

ROS-MATLAB Setup

Edison needs the following configuration for MATLAB to resolve the DNS correctly.

In .bashrc, add the following lines

# replace with your edison ip accordingly
export ROS_IP=192.168.0.106
export ROS_MASTER_URI=http://192.168.198.106:11311