树莓派如何使用串口，树莓派连接pixhawk

参考链接：（写的非常详细，下述方法亲测有效）pi 3 - How do I make serial work on the Raspberry Pi3 (PiZeroW, Pi4 or later models) - Raspberry Pi Stack Exchange

please follow these 6 steps carefully.

Step 1 - Install Raspbian Jessie onto a SD card and boot the Pi when connected to a network Login via terminal or desktop and shell Configure the system with:

sudo raspi-config

Expand filesystem and enable serial on advanced page, exit and reboot.

Step 2 -this won't necessary if you have jessie new release Update the system with:

sudo apt-get update

sudo apt-get upgrade

Step 3 - Device Tree settings as below:

Add device tree to /boot/config.txt to disable the Raspberry Pi 3 bluetooth.

sudo nano /boot/config.txt

Add at the end of the file

*if you want to change the blutooth to miniuart port(bad)

dtoverlay=pi3-miniuart-bt

*if you want to disable the blutooth(good)

dtoverlay=pi3-disable-bt

Exit the editor saving your changes.

Step 4 - reboot the pi

sudo reboot

step 5 -

a)to disable the Serial Console edit the file using

sudo nano /boot/cmdline.txt

remove the word phase "console=serial0,115200" or "console=ttyAMA0,115200"

Exit and save your changes

b)to Enable the Serial Console edit the file using

sudo nano /boot/cmdline.txt

Change the file to the following:

dwc_otg.lpm_enable=0 console=tty1 console=serial0(or ttyAMA0),115200 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait

Exit and save your changes

Step 6 - reboot the pi

sudo reboot

 补充：

tips：如果遇到了 报错 DeviceError:serial:open: Permission denied

改变一下串口权限即可 （serial0改为自己的串口设备）

sudo chmod a+rw /dev/serial0

可以用如下指令设置永久可操作：

sudo usermod -aG dialout liyf

 其中liyf为用户名，把此用户名加入dialout用户组（dialout是一个group，它主要负责对于串口的权限）。