voxl-flight quick start

voxl flight

官方地址：https://www.modalai.com/

硬件及接口

两个版本。


Snapdragon 821：四核最高2.15GH，GPU，2xDSP
视频支持：3个MIPI摄像机，UVC
PCB重量18g
电源模块重量13g
相机（6克）
功率3-10W

飞控板：

• MCU 216MHz, 32-bit ARM M7 STM32F765II Memory 256Kb FRAM 2Mbit Flash
  512Kbit SRAM
• ICM-20602 (SPI1)
• ICM-42688 (SPI2) - Coming Soon
• BMI088 (SPI6)
• Barometer BMP388 (I2C4) Secure Element A71CH (I2C4)
  microSD Card Information on supported cards Inputs GPS/Mag

J1 VOXL Communications Interface Connector (TELEM2)
J2 Programming and Debug Connector
J3 USB Connector
J4 VOXL Spare Communications Interface Connector (TELEM3)
J5 Telemetry Connector (TELEM1)
J6 VOXL-Power Management Input / Expansion
J7 8-Channel PWM Output Connector
J8 CAN Bus Connector
J9 PPM RC In
J10 External GPS & Magnetometer Connector
J12 RC Input, Spektrum/SBus/UART Connector
J13 I2C Display (Spare Sensor Connector) / Safety Button Input
详细引脚定义

搭建开发环境

参考官方的 gitlab 来编译 https://gitlab.com/voxl-public/voxl-build/-/tree/master#install-docker
1. 安装docker

$ sudo apt-get remove docker docker-engine docker.io containerd runc
$ sudo apt-get update
$ sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    gnupg-agent \
    software-properties-common
$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
$ sudo apt-key fingerprint 0EBFCD88
$ sudo add-apt-repository \
   "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"
 $ sudo apt-get update
 $ sudo apt-get install docker-ce docker-ce-cli containerd.io
 # 安装完后需要无sudo 运行
 $ sudo groupadd docker
 $ sudo usermod -aG docker $USER
# 测试
$ docker run hello-world
# 查看docker 信息
$ docker info  

2. 下载编译代码

$ git clone https://gitlab.com/voxl-public/voxl-build.git
$ cd voxl-build
$ docker build -t voxl-build -f ubuntu-xenial.Dockerfile .

这里一般都会遇到问题，原因是docker 里面 apt update 太慢了，这时候可以通过代理来实现docker 内命令行的代码

vim ~/.docker/config.json # 添加以下内容，前提是你得有自己的代理软件
{
 "proxies":
 {
   "default":
   {
     "httpProxy": "http://172.17.0.1:1081",
     "httpsProxy": "http://172.17.0.1:1081",
     "noProxy": "*.aliyun.com,.example1.com"
   }
 }

同样还有可能遇到docker pull 太慢，所以你得换成中国的镜像源

sudo vim /etc/docker/daemon.json 
# 添加
{
  "registry-mirrors" : [
    "http://docker.mirrors.ustc.edu.cn"
  ],
  "insecure-registries" : [
    "docker.mirrors.ustc.edu.cn"
  ],
  "debug" : true,
  "experimental" : true
}
#重启 docker 
$ sudo service docker restart

#查看docker info 
$ docker info 

这样如果./docker.run -d /opt/data/workspace -i voxl-build 正常无错误的话，应该会进入docker 镜像内，然后开始编译内核

cd /opt/data/workspace
sudo chown user . 
source /home/user/build.sh /opt/data/workspace  # 运行时间比较长。。慢慢等

编译完成后，内核文件在

/opt/data/workspace/poky/build/tmp-glibc/deploy/images/apq8096-drone/apq8096-boot.img
/opt/data/workspace/poky/build/tmp-glibc/deploy/images/apq8096-drone/kernel_modules/qcacld-ll/wlan.ko

3. 烧写内核
连接USB

$ sudo apt install android-tools-adb
$ adb shell uname -a
$ adb reboot bootloader
$ fastboot devices
$ fastboot boot /opt/data/workspace/poky/build/tmp-glibc/deploy/images/apq8096-drone/apq8096-boot.img

4. 安装安装系统镜像
下载软件 https://developer.modalai.com/asset

cd modalai-2-2-0 
sudo python flash_build_apps.py 
adb shell version 
#ModalAI 2.2.0
#BUILDER: ekatzfey
#BUILD_TIME: 2020-01-28_23:54 

5. 下载安装软件bundle

# 顺序不能反，否则会安装失败
$ cd voxl-factory-bundle_0.0.3
$ ./install.sh --adb
$ cd ../voxl-software-bundle_0.0.3
$ ./install.sh --adb

6. 配置wifi

adb shell voxl-wifi station <SSID> <Password>
adb reboot && adb wait-for-device

7. shh 登录

ssh root@ip
# 初始密码为oelinux123

8. 下载px4 固件
   https://github.com/PX4/Firmware/releases
   modalai_fc-v1_default.px4
   使用 脚本　https://github.com/PX4/Firmware/blob/master/Tools/upload.sh上传固件
   这里的usb需要连接的飞控板子上J3 USB 接口

cd Firmware/Tools
./upload.sh ../modalai_fc-v1_default.px4