mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.8 KiB
Markdown
119 lines
3.8 KiB
Markdown
# ArduPilot on Qualcomm Flight
|
|
|
|
This is a port of ArduPilot to the Qualcomm Flight development board:
|
|
|
|
http://shop.intrinsyc.com/products/snapdragon-flight-dev-kit
|
|
|
|
This board is interesting because it is small but offers a lot of CPU
|
|
power and two on-board cameras.
|
|
|
|
The board has 4 'Krait' ARM cores which run Linux (by default Ubuntu
|
|
14.04 Trusty), plus 3 'Hexagon' DSP cores which run the QURT RTOS.
|
|
|
|
There are two ports of ArduPilot to this board. One is called
|
|
'HAL_QURT' and runs primarily on the DSPs, with just a small shim on
|
|
the ARM cores. The other is a HAL_Linux subtype called 'QFLIGHT' which
|
|
runs mostly on the ARM cores, with just sensor and UARTs on the DSPs.
|
|
|
|
This is the readme for the QFLIGHT port. See the AP_HAL_QURT directory
|
|
for information on the QURT port.
|
|
|
|
# Building ArduPilot for 'QFLIGHT'
|
|
|
|
Due to some rather unusual licensing terms from Intrinsyc we cannot
|
|
distribute binaries of ArduPilot (or any program built with the
|
|
Qualcomm libraries). So you will have to build the firmware yourself.
|
|
|
|
To build ArduPilot you will need 3 library packages from
|
|
Intrinsyc. They are:
|
|
|
|
* the HEXAGON_Tools package, tested with version 7.2.11
|
|
* the Hexagon_SDK packet, version 2.0
|
|
* the HexagonFCAddon package, tested with Flight_BSP_1.1_ES3_003.2
|
|
|
|
These packages should all be unpacked in a $HOME/Qualcomm directory.
|
|
|
|
To build APM:Copter you then do:
|
|
|
|
```
|
|
cd ArduCopter
|
|
make qflight -j4
|
|
```
|
|
|
|
you can then upload the firmware to your board by joining to the WiFi
|
|
network of the board and doing this
|
|
|
|
```
|
|
make qflight_send FLIGHT_BOARD=myboard
|
|
```
|
|
|
|
where "myboard" is the hostname or IP address of your board.
|
|
|
|
This will install two files:
|
|
|
|
```
|
|
/root/ArduCopter.elf
|
|
/usr/share/data/adsp/libqflight_skel.so
|
|
```
|
|
|
|
To start ArduPilot just run the elf file as root on the flight
|
|
board. You can control UART output with command line options. A
|
|
typical startup command would be:
|
|
|
|
```
|
|
/root/ArduCopter.elf -A udp:192.168.1.255:14550:bcast -e /dev/tty-3 -B qflight:/dev/tty-2 --dsm /dev/tty-4
|
|
```
|
|
|
|
That will start ArduPilot with telemetry over UDP on port 14550, GPS
|
|
on tty-2 on the DSPs, Skektrum satellite RC input on tty-4 and
|
|
ESC output on tty-3.
|
|
|
|
Then you can open your favourite MAVLink compatible GCS and connect
|
|
with UDP.
|
|
|
|
# Logging
|
|
|
|
Logs will appear in /var/APM/logs as usual for Linux ArduPilot
|
|
ports. You can download logs over MAVLink or transfer over WiFi.
|
|
|
|
# UART connections
|
|
|
|
The Qualcomm Flight board has 4 DF13 6 pin UART connectors. Be careful
|
|
though as they do not have the same pinout as the same connectors on a
|
|
Pixhawk.
|
|
|
|
The pinout of them all is:
|
|
|
|
* pin1: power
|
|
* pin2: TX
|
|
* pin3: RX
|
|
* pin5: GND
|
|
|
|
3 of the 4 ports provide 3.3V power on pin1, while the 4th port
|
|
provides 5V power. Note that pin6 is not ground, unlike on a Pixhawk.
|
|
|
|
The 4 ports are called /dev/tty-1, /dev/tty-2, /dev/tty-3 and
|
|
/dev/tty-4. The first port is the one closest to the USB3
|
|
connector. The ports proceed counter-clockwise from there. So tty-2 is
|
|
the one closest to the power connector.
|
|
|
|
Only tty-2 provides 5V power. The others provide 3.3V power. You will
|
|
need to check whether your GPS can be powered off 3.3V.
|
|
|
|
# ESC PWM Output
|
|
|
|
To get signals to ESCs or servos you need to use a UART. The default
|
|
setup is to send 4 PWM signals as serial data on /dev/tty-3. This is
|
|
designed to work with this firmware for any ArduPilot compatible
|
|
board:
|
|
|
|
https://github.com/tridge/ardupilot/tree/hal-qurt/libraries/RC_Channel/examples/RC_UART
|
|
|
|
that firmware will read the UART serial stream and output to the PWM
|
|
output of the board you use. For example, you could use a Pixracer or
|
|
Pixhawk board. This is an interim solution until Qualcomm/Intrinsyc
|
|
release an ESC add-on control board for the Qualcomm Flight.
|
|
|
|
Note that you can also use RC input from that attached board, allowing
|
|
you to use any ArduPilot compatible RC receiver.
|