/droneData_alliantech

Drone data and other data collected at Alliantech.

droneData_alliantech

Documentation of resources used during Drone Internship.

RESOURCES AND LINKS

  • DRONE DATA, ETAT DE L’ART, BOITIERS, RAPPORTS ET SUPPORTS IMPRIMES:

Google Drive partage avec Alliantech.

  • PX4 DEVELOPER ENVIRONMENT

https://docs.px4.io/master/en/dev_setup/dev_env.html ⚠️ Requires: linux,github, docker.

  • LOGGING:

https://docs.px4.io/master/en/dev_log/logging.html

  • EXECUTABLES:

https://docs.px4.io/master/en/modules/hello_sky.html The data-logging activation file was coded in C++, and compiled into an executable via the MAVLink protocol. During operation, it simply toggles a pin (FMU Channel 6), which can then be detected by the data acquisition system in order to begin and end the logging.

  • CIRCUIT SUR DRONE:

https://docs.px4.io/master/en/flight_controller/pixhawk4.html#serial-port-mapping

LES COMMANDES UTILES LORS D’UN VOL

Pour lancer l'acquisition de donnees

OPEN NSH CONSOLE. ⚠️ Requires: DAQ Connected to D11 PIN

RESET PIN (0) AT STARTUP, THEN POWER UP DAQ

nsh> px4_slice_disconnect

SET PIN (1) TO START LOGGING

nsh> px4_slice_disconnect

LES COMMANDES UTILES POUR ORGANISER LES LOGS / GROUNDSTATION

Pour compiler la librairie mavlink (add logs, ui...)

⚠️ Requires: mavlink repo from github (compiled)+docker setup

sudo docker run --rm -v ${PWD}:/project/source -v ${PWD}/build:/project/build qgc-linux-docker

Pour convertir un log de la Pixhawk (.ulog) en .csv

⚠️ Requires: ulog2csv lib

ulog2csv log_0_2021-8-10-04-37-02.ulg

Pour flasher du firmware sur la Pixhawk 4

⚠️ Requires: PX4-Autopilot from github (compiled)

cd ../PX4-Autopilot/
make px4_fmu-v5_default upload

Pour lancer la version dev de QGC

⚠️ Requires: qgc repo from github (compiled)

cd Documents/qgroundcontrol/build/staging
./qgroundcontrol

LES COMMANDES UTILES POUR LIRE LES LOGS ROS

Pour executer un rosbag

rosbag play xr1.bag -l -a

Pour extraire un csv d'un rosbag

One topic

rostopic echo -b xr1.bag -p /tf >> xr1.csv

All topics

for topic in `rostopic list -b bagfile.bag` ; do rostopic echo -p -b bagfile.bag $topic >bagfile-${topic//\//_}.csv ; done

Timers

https://roboticsbackend.com/how-to-use-a-ros-timer-in-python-to-publish-data-at-a-fixed-rate/