PaparazziUAV - User contributions [en]

Explorer/RaspberryPi/Visualprocessing/Motionvector

2021-02-12T12:20:48Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp ~/userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Wifibroadcast/Equipements

2021-02-12T08:29:23Z

Xp31:

Wifibroadcast have been checked with wifi adapters chips:
* Ralink RT5572
* Realtek RTL8812AU
Ground and board transciever can be mixed.

While the RT5572 driver (rt2800lib/usb) is fully operational on the raspbian buster, the RTL8812AU driver (88XXau) need to be compiled

sudo apt-get install raspberrypi-kernel-headers
git clone https://github.com/aircrack-ng/rtl8812au
cd rtl8812au
sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile
sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
export ARCH=arm
sed -i 's/^MAKE="/MAKE="ARCH=arm\ /' dkms.conf
make
sudo make install

create file with your MAC address <br />
(keep wlan0 for the RPI wifi chip, and wlan1 for the external wifi adpater)<br />
/etc/udev/rules.d/76-netnames.rules
SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="b8:27:eb:be:ba:55", NAME="wlan0"
SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="00:13:ef:f2:18:98", NAME="wlan1"

<gallery>
Explorer_RaspiZero_RT5572_open.jpg
Explorer_RaspiZero_RT5572_close.jpg
Explorer_Raspi_RT5572.jpg
Explorer_Raspi_Apogee_RT5572.jpg
Explorer_Raspi_Apogee_HDMI_ETH.jpg
</gallery>

<gallery>
Explorer_RT5572_RTL8812AU_AC1200.jpg
Explorer_RT5572_RTL8812AU_AC1200_open.jpg
Explorer_RT5572_RTL8812AU_AC1200_zoom.jpg
</gallery>

<gallery>
Explorer_RTL8812AU_AC1200_ALFA.jpg
</gallery>

[[Explorer/RaspberryPi]]

Explorer/RaspberryPi/Setup

2021-02-12T07:49:01Z

Xp31:

[[Explorer]]

[[Explorer/RaspberryPi/Softwares]]

* Installation
Download and install raspbian (debian for raspberry) lite package (same for PI3 and PIzero)<br />
Raspberry Pi OS (32-bit) Lite (buster : 433M)

wget https://downloads.raspberrypi.org/raspbian_lite_latest

Flash the RaspberryPi OS on a 16Gb minimum size SD

mv raspbian_lite_latest raspbian_lite_latest.zip
./balenaEtcher-1.5.79-x64.AppImage

* Initial configuration:
PI3 and PIZero can be configured headless, without a keyboard and a display.<br />
You just need to configure the board to connect to a wifi hotspot when power on.<br />

* Plug the memory SD card with the fresh raspbian installed.

Create file (sudo touch)
boot/ssh

Create the file with following content (sudo vi)
boot/wpa_supplicant.conf
"
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=FR
network={
ssid="Androidxp"
psk="pprzpprz"
}
network={
ssid="pprz_router"
key_mgmt=NONE
}
"
* Plug the SD memory card in the raspberry Pi and power on.
* Connect your computer to the same wifi hotspot
* Look for the Raspberry IP on the network
nmap -sn 192.168.1.0/24

* Connect to the identified IP
ssh pi@...
password: raspberry

* Set the configuration
sudo raspi-config
1) change user password
5) P1) enable camera
P6) login shell:disable
serial interface:enable
7) advanced options
A1) expand filesystem

/etc/hosts
127.0.1.1 raspberrypi
to 127.0.1.1 airpi or groundpi

/etc/hostname
raspberrypi to airpi or groundpi

/etc/dhcpcd.conf
"
# It is possible to fall back to a static IP if DHCP fails:
# define static profile
profile static_eth0
static ip_address=192.168.3.2/24
static routers=192.168.3.1
static domain_name_servers=192.168.3.1
# fallback to static profile on eth0
interface eth0
fallback static_eth0
"

/boot/config.txt
"
dtoverlay=pi3-disable-bt
"

sudo reboot

sudo systemctl stop serial-getty@ttyAMA0.service
sudo systemctl disable serial-getty@ttyAMA0.service

sudo systemctl stop hciuart
sudo systemctl disable hciuart

Explorer/RaspberryPi/Wifibroadcast/Equipements

2021-02-11T15:22:29Z

Xp31:

Wifibroadcast have been checked with wifi adapters chips:
* Ralink RT5572
* Realtek RTL8812AU
Ground and board transciever can be mixed.

While the RT5572 driver (rt2800lib/usb) is fully operational on the raspbian buster, the RTL8812AU driver (88XXau) need to be compiled

git clone https://github.com/aircrack-ng/rtl8812au
cd rtl8812au
sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile
sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
make
sudo make install

create file with your MAC address <br />
(keep wlan0 for the RPI wifi chip, and wlan1 for the external wifi adpater)<br />
/etc/udev/rules.d/76-netnames.rules
SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="b8:27:eb:be:ba:55", NAME="wlan0"
SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="00:13:ef:f2:18:98", NAME="wlan1"

<gallery>
Explorer_RaspiZero_RT5572_open.jpg
Explorer_RaspiZero_RT5572_close.jpg
Explorer_Raspi_RT5572.jpg
Explorer_Raspi_Apogee_RT5572.jpg
Explorer_Raspi_Apogee_HDMI_ETH.jpg
</gallery>

<gallery>
Explorer_RT5572_RTL8812AU_AC1200.jpg
Explorer_RT5572_RTL8812AU_AC1200_open.jpg
Explorer_RT5572_RTL8812AU_AC1200_zoom.jpg
</gallery>

<gallery>
Explorer_RTL8812AU_AC1200_ALFA.jpg
</gallery>

[[Explorer/RaspberryPi]]

Explorer/RaspberryPi/Wifibroadcast/Equipements

2021-02-11T15:21:41Z

Xp31:

Wifibroadcast have been checked with wifi adapters chips:
* Ralink RT5572
* Realtek RTL8812AU
Ground and board transciever can be mixed.

While the RT5572 driver (rt2800lib/usb) is fully operational on the raspbian buster, the RTL8812AU driver (88XXau) need to be compiled

git clone https://github.com/aircrack-ng/rtl8812au
cd rtl8812au
sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile
sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
make
sudo make install

create file with your MAC address <br />
(keep wlan0 for the RPI wifi chip, and wlan1 for the external wifi adpater)<br />
/etc/udev/rules.d/76-netnames.rules
SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="b8:27:eb:be:ba:55", NAME="wlan0"
SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="00:13:ef:f2:18:98", NAME="wlan1"

check installation
sudo dkms status
=> rtl8812au, 5.6.4.2, 4.19.75-v7+, armv7l: installed
(sudo dkms remove rtl8812au/5.6.4.2 --all)

<gallery>
Explorer_RaspiZero_RT5572_open.jpg
Explorer_RaspiZero_RT5572_close.jpg
Explorer_Raspi_RT5572.jpg
Explorer_Raspi_Apogee_RT5572.jpg
Explorer_Raspi_Apogee_HDMI_ETH.jpg
</gallery>

<gallery>
Explorer_RT5572_RTL8812AU_AC1200.jpg
Explorer_RT5572_RTL8812AU_AC1200_open.jpg
Explorer_RT5572_RTL8812AU_AC1200_zoom.jpg
</gallery>

<gallery>
Explorer_RTL8812AU_AC1200_ALFA.jpg
</gallery>

[[Explorer/RaspberryPi]]

Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation

2020-09-29T12:50:32Z

Xp31:

Improve latency and CPU usage by removing filter "VIDEOCONVERT" and using v4l2h264enc instead of omxh264enc<br />
gst-launch-1.0 shmsrc socket-path=/tmp/camera3 do-timestamp=true \
! video/x-raw, format=BGR, width=640, height=480, framerate=30/1, colorimetry=1:1:5:1 \
! v4l2h264enc extra-controls="controls,video_bitrate=3000000;" \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 &
TO BE UPDATED
#include <opencv2/opencv.hpp>
#define WIDTH 640
#define HEIGHT 480
#define FPS 30
#define SCALE 3/2

using namespace cv;
using namespace std;
int main(int, char**)
{
unsigned int dataSize = sizeof(unsigned char)*WIDTH*HEIGHT*SCALE;
Mat imageIn(WIDTH*SCALE, HEIGHT, CV_8UC1);
Mat imageOut(WIDTH,HEIGHT,CV_8UC3,Scalar(0,0,0));
//cout << getBuildInformation() << endl;

string streamInGstStr="shmsrc socket-path=/tmp/camera2 ! video/x-raw,width="+to_string(WIDTH)+
",height="+to_string(HEIGHT)+",framerate="+to_string(FPS)+"/1,format=I420 ! appsink sync=true";
string streamOutGstStr="appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false";

VideoCapture streamIn(streamInGstStr,CAP_GSTREAMER);
VideoWriter streamOut(streamOutGstStr,0,FPS/1,Size(WIDTH,HEIGHT),true);

if (streamIn.isOpened() && streamOut.isOpened()) {
while (true) {
streamIn.read(imageIn);
if (!imageIn.empty()) {
memcpy(imageOut.data,imageIn.data,dataSize);
streamOut.write(imageOut);
}
}
}
return 0;
}

rm /tmp/camera*;\
raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5100 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! omxh264dec \
! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false &
sleep 1
~/opencv_test/test &
sleep 1
gst-rtsp-server-1.14.4/examples/test-launch \
"udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
"shmsrc socket-path=/tmp/camera3 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1" &

client:<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false

Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation

2020-09-29T12:49:45Z

Xp31:

Improve latency and CPU usage by removing filter "VIDEOCONVERT" and using v4l2h264enc instead of omxh264enc<br />
TO BE UPDATED WITH
gst-launch-1.0 shmsrc socket-path=/tmp/camera3 do-timestamp=true \
! video/x-raw, format=BGR, width=640, height=480, framerate=30/1, colorimetry=1:1:5:1 \
! v4l2h264enc extra-controls="controls,video_bitrate=3000000;" \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 &

#include <opencv2/opencv.hpp>
#define WIDTH 640
#define HEIGHT 480
#define FPS 30
#define SCALE 3/2

using namespace cv;
using namespace std;
int main(int, char**)
{
unsigned int dataSize = sizeof(unsigned char)*WIDTH*HEIGHT*SCALE;
Mat imageIn(WIDTH*SCALE, HEIGHT, CV_8UC1);
Mat imageOut(WIDTH,HEIGHT,CV_8UC3,Scalar(0,0,0));
//cout << getBuildInformation() << endl;

string streamInGstStr="shmsrc socket-path=/tmp/camera2 ! video/x-raw,width="+to_string(WIDTH)+
",height="+to_string(HEIGHT)+",framerate="+to_string(FPS)+"/1,format=I420 ! appsink sync=true";
string streamOutGstStr="appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false";

VideoCapture streamIn(streamInGstStr,CAP_GSTREAMER);
VideoWriter streamOut(streamOutGstStr,0,FPS/1,Size(WIDTH,HEIGHT),true);

if (streamIn.isOpened() && streamOut.isOpened()) {
while (true) {
streamIn.read(imageIn);
if (!imageIn.empty()) {
memcpy(imageOut.data,imageIn.data,dataSize);
streamOut.write(imageOut);
}
}
}
return 0;
}

rm /tmp/camera*;\
raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5100 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! omxh264dec \
! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false &
sleep 1
~/opencv_test/test &
sleep 1
gst-rtsp-server-1.14.4/examples/test-launch \
"udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
"shmsrc socket-path=/tmp/camera3 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1" &

client:<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false

Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation

2020-09-29T12:48:42Z

Xp31:

Improve latency and CPU usage by removing filter "VIDEOCONVERT"
TO BE UPDATED WITH
gst-launch-1.0 shmsrc socket-path=/tmp/camera3 do-timestamp=true \
! video/x-raw, format=BGR, width=640, height=480, framerate=30/1, colorimetry=1:1:5:1 \
! v4l2h264enc extra-controls="controls,video_bitrate=3000000;" \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 &

#include <opencv2/opencv.hpp>
#define WIDTH 640
#define HEIGHT 480
#define FPS 30
#define SCALE 3/2

using namespace cv;
using namespace std;
int main(int, char**)
{
unsigned int dataSize = sizeof(unsigned char)*WIDTH*HEIGHT*SCALE;
Mat imageIn(WIDTH*SCALE, HEIGHT, CV_8UC1);
Mat imageOut(WIDTH,HEIGHT,CV_8UC3,Scalar(0,0,0));
//cout << getBuildInformation() << endl;

string streamInGstStr="shmsrc socket-path=/tmp/camera2 ! video/x-raw,width="+to_string(WIDTH)+
",height="+to_string(HEIGHT)+",framerate="+to_string(FPS)+"/1,format=I420 ! appsink sync=true";
string streamOutGstStr="appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false";

VideoCapture streamIn(streamInGstStr,CAP_GSTREAMER);
VideoWriter streamOut(streamOutGstStr,0,FPS/1,Size(WIDTH,HEIGHT),true);

if (streamIn.isOpened() && streamOut.isOpened()) {
while (true) {
streamIn.read(imageIn);
if (!imageIn.empty()) {
memcpy(imageOut.data,imageIn.data,dataSize);
streamOut.write(imageOut);
}
}
}
return 0;
}

rm /tmp/camera*;\
raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5100 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! omxh264dec \
! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false &
sleep 1
~/opencv_test/test &
sleep 1
gst-rtsp-server-1.14.4/examples/test-launch \
"udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
"shmsrc socket-path=/tmp/camera3 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1" &

client:<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false

Explorer/RaspberryPi/Visualprocessing/IMU

2020-09-29T12:43:31Z

Xp31:

to be added in cv.cpp

#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>

#define IMUPIPE "/tmp/fromimu"
float msgpipe_g[3];
int imufd;
Point pcenter(320,240);
float torad = CV_PI / 180.0;

/*****************************************************************************/
static void * drawAxes_threadImuProg(void *arg) {
float msgpipe_l[3];
int msgsize = sizeof(msgpipe_g);
while(true) {
if (msgsize==read(imufd,&msgpipe_l,msgsize)) {
memcpy(&msgpipe_g, &msgpipe_l, msgsize);
}
}
}

static void drawAxes_init()
{
mkfifo(IMUPIPE, 0666);
imufd = open(IMUPIPE, O_RDWR);

pthread_t threadImu;
pthread_create(&threadImu, NULL, &drawAxes_threadImuProg, NULL);
}

struct quaternion_t
{
float w, x, y, z;
};

static void drawAxes(Mat3b *img)
{
float msgpipe_l[3];
memcpy(&msgpipe_l, &msgpipe_g, sizeof(msgpipe_g));

float roll = torad*msgpipe_l[0]; // roll_phy(x)
float pitch = -torad*msgpipe_l[1]; // pitch_theta(y)
float yaw = -torad*msgpipe_l[2]; // yaw_psi(z)

float cy = cos(roll * 0.5);
float sy = sin(roll * 0.5);
float cp = cos(yaw * 0.5);
float sp = sin(yaw * 0.5);
float cr = cos(pitch * 0.5);
float sr = sin(pitch * 0.5);

quaternion_t q; // quaternion from euler
q.w = cr * cp * cy + sr * sp * sy;
q.x = sr * cp * cy - cr * sp * sy;
q.y = cr * sp * cy + sr * cp * sy;
q.z = cr * cp * sy - sr * sp * cy;

array<Point3i,4> pts = {Point3i{0,0,0},Point3i{100,0,0},Point3i{0,100,0},Point3i{0,0,100}};
array<Point3f,4> out;
for (int i=0;i<4;i++) { // rotation matrix from quaternion
out[i].x=(1-2*q.y*q.y-2*q.z*q.z)*pts[i].x+(2*q.x*q.y-2*q.z*q.w)*pts[i].y+(2*q.x*q.z+2*q.y*q.w)*pts[i].z;
out[i].y=(2*q.x*q.y+2*q.z*q.w)*pts[i].x+(1-2*q.x*q.x-2*q.z*q.z)*pts[i].y+(2*q.y*q.z-2*q.x*q.w)*pts[i].z;
out[i].z=(2*q.x*q.z-2*q.y*q.w)*pts[i].x+(2*q.y*q.z+2*q.x*q.w)*pts[i].y+(1-2*q.x*q.x-2*q.y*q.y)*pts[i].z;
}

Point loc=pcenter;
array<Point,4> imgPts; // 3D to 2D projection
for (int i=0;i<4;i++)
imgPts[i]={(int)(loc.x-out[i].x+0.5*out[i].z),(int)(loc.y-out[i].y-0.5*out[i].z)};

line(*img, imgPts[0], imgPts[3], Scalar(0,0,255), 3); // red
line(*img, imgPts[0], imgPts[1], Scalar(0,255,0), 3); // green
line(*img, imgPts[0], imgPts[2], Scalar(255,0,0), 3); // blue
circle(*img, pcenter, 5, Scalar(0,0,0), -1);
}

to be modified in muxer.c

#define IMUPIPE "/tmp/fromimu"
float msgpipe_g[3];
int imufd;
...
mkfifo(IMUPIPE, 0666);
imufd = open(IMUPIPE, O_RDWR | O_NONBLOCK);
...
if (msgid == PPRZ_MSG_ID_ROTORCRAFT_FP) {
memcpy(&(rfp_g.stamp),&tv,sizeof(struct timeval));
rfp_g.phi =ALT_UNIT_COEF_ATT*pprzlink_get_ROTORCRAFT_FP_phi(buf);
rfp_g.theta=ALT_UNIT_COEF_ATT*pprzlink_get_ROTORCRAFT_FP_theta(buf);
rfp_g.psi =ALT_UNIT_COEF_ATT*pprzlink_get_ROTORCRAFT_FP_psi(buf);
acid = buf[0];
printf("%.4f %d ROTORCRAFT_FP %f %f %f\n",elapsed,acid,rfp_g.phi,rfp_g.theta,rfp_g.psi);

msgpipe_g[0]=rfp_g.phi; msgpipe_g[1]=rfp_g.theta; msgpipe_g[2] = rfp_g.psi;
write(imufd, &msgpipe_g, sizeof(msgpipe_g));

to be modified in airpi.sh

socat -u /dev/ttyAMA0,raw,echo=0,b115200 - | tee >(socat - udp-sendto:127.0.0.1:4245) >(socat - udp-sendto:127.0.0.1:4242) > /dev/null 2>&1 &
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
export LD_LIBRARY_PATH=/home/pi/muxer/lib
/home/pi/muxer/exe/muxer 4244 4245 > /dev/null 2>&1 &

Explorer/RaspberryPi/Visualprocessing/IMU

2020-09-29T12:42:05Z

Xp31:

Explorer/RaspberryPi/Visualprocessing/IMU

2020-09-29T12:39:42Z

Xp31:

Explorer/RaspberryPi/Visualprocessing/IMU

2020-09-29T12:39:33Z

Xp31:

Explorer/RaspberryPi/Visualprocessing/IMU

2020-09-29T12:37:48Z

Xp31:

#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>

#define IMUPIPE "/tmp/fromimu"
float msgpipe_g[3];
int imufd;
Point pcenter(320,240);
float torad = CV_PI / 180.0;

/*****************************************************************************/
static void * drawAxes_threadImuProg(void *arg) {
float msgpipe_l[3];
int msgsize = sizeof(msgpipe_g);
while(true) {
if (msgsize==read(imufd,&msgpipe_l,msgsize)) {
memcpy(&msgpipe_g, &msgpipe_l, msgsize);
}
}
}

static void drawAxes_init()
{
mkfifo(IMUPIPE, 0666);
imufd = open(IMUPIPE, O_RDWR);

pthread_t threadImu;
pthread_create(&threadImu, NULL, &drawAxes_threadImuProg, NULL);
}

struct quaternion_t
{
float w, x, y, z;
};

static void drawAxes(Mat3b *img)
{
float msgpipe_l[3];
memcpy(&msgpipe_l, &msgpipe_g, sizeof(msgpipe_g));

float roll = torad*msgpipe_l[0]; // roll_phy(x)
float pitch = -torad*msgpipe_l[1]; // pitch_theta(y)
float yaw = -torad*msgpipe_l[2]; // yaw_psi(z)

float cy = cos(roll * 0.5);
float sy = sin(roll * 0.5);
float cp = cos(yaw * 0.5);
float sp = sin(yaw * 0.5);
float cr = cos(pitch * 0.5);
float sr = sin(pitch * 0.5);

quaternion_t q; // quaternion from euler
q.w = cr * cp * cy + sr * sp * sy;
q.x = sr * cp * cy - cr * sp * sy;
q.y = cr * sp * cy + sr * cp * sy;
q.z = cr * cp * sy - sr * sp * cy;

array<Point3i,4> pts = {Point3i{0,0,0},Point3i{100,0,0},Point3i{0,100,0},Point3i{0,0,100}};
array<Point3f,4> out;
for (int i=0;i<4;i++) { // rotation matrix from quaternion
out[i].x=(1-2*q.y*q.y-2*q.z*q.z)*pts[i].x+(2*q.x*q.y-2*q.z*q.w)*pts[i].y+(2*q.x*q.z+2*q.y*q.w)*pts[i].z;
out[i].y=(2*q.x*q.y+2*q.z*q.w)*pts[i].x+(1-2*q.x*q.x-2*q.z*q.z)*pts[i].y+(2*q.y*q.z-2*q.x*q.w)*pts[i].z;
out[i].z=(2*q.x*q.z-2*q.y*q.w)*pts[i].x+(2*q.y*q.z+2*q.x*q.w)*pts[i].y+(1-2*q.x*q.x-2*q.y*q.y)*pts[i].z;
}

Point loc=pcenter;
array<Point,4> imgPts; // 3D to 2D projection
for (int i=0;i<4;i++)
imgPts[i]={(int)(loc.x-out[i].x+0.5*out[i].z),(int)(loc.y-out[i].y-0.5*out[i].z)};

line(*img, imgPts[0], imgPts[3], Scalar(0,0,255), 3); // red
line(*img, imgPts[0], imgPts[1], Scalar(0,255,0), 3); // green
line(*img, imgPts[0], imgPts[2], Scalar(255,0,0), 3); // blue
circle(*img, pcenter, 5, Scalar(0,0,0), -1);
}

Explorer/RaspberryPi/Visualprocessing

2020-09-29T12:36:33Z

Xp31:

File recording
gst-launch-1.0 shmsrc socket-path=/tmp/camera1 do-timestamp=true \
! h264parse config-interval=1 \
! matroskamux \
! filesink location=/data/file0.mkv

* [[Explorer/RaspberryPi/Visualprocessing/Opencv]]

* [[Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation]]

* [[Explorer/RaspberryPi/Visualprocessing/Motionvector]]

* [[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

* [[Explorer/RaspberryPi/Visualprocessing/IMU]]

Explorer/RaspberryPi/Visualprocessing/Motionvector

2020-09-29T12:35:16Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Visualprocessing/Motionvector

2020-09-29T12:34:03Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Visualprocessing/Motionvector

2020-09-29T12:33:23Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Visualprocessing/Motionvector

2020-09-29T12:32:49Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Visualprocessing/Motionvector

2020-09-29T12:31:40Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Visualprocessing/IMU

2020-09-29T12:29:16Z

Xp31: Created page with " /*****************************************************************************/ static void * drawAxes_threadImuProg(void *arg) { float msgpipe_l[3]; int msgsize = siz..."

/*****************************************************************************/
static void * drawAxes_threadImuProg(void *arg) {
float msgpipe_l[3];
int msgsize = sizeof(msgpipe_g);
while(true) {
if (msgsize==read(imufd,&msgpipe_l,msgsize)) {
memcpy(&msgpipe_g, &msgpipe_l, msgsize);
}
}
}

static void drawAxes_init()
{
mkfifo(IMUPIPE, 0666);
imufd = open(IMUPIPE, O_RDWR);

pthread_t threadImu;
pthread_create(&threadImu, NULL, &drawAxes_threadImuProg, NULL);
}

struct quaternion_t
{
float w, x, y, z;
};

static void drawAxes(Mat3b *img)
{
float msgpipe_l[3];
memcpy(&msgpipe_l, &msgpipe_g, sizeof(msgpipe_g));

float roll = torad*msgpipe_l[0]; // roll_phy(x)
float pitch = -torad*msgpipe_l[1]; // pitch_theta(y)
float yaw = -torad*msgpipe_l[2]; // yaw_psi(z)

float cy = cos(roll * 0.5);
float sy = sin(roll * 0.5);
float cp = cos(yaw * 0.5);
float sp = sin(yaw * 0.5);
float cr = cos(pitch * 0.5);
float sr = sin(pitch * 0.5);

quaternion_t q; // quaternion from euler
q.w = cr * cp * cy + sr * sp * sy;
q.x = sr * cp * cy - cr * sp * sy;
q.y = cr * sp * cy + sr * cp * sy;
q.z = cr * cp * sy - sr * sp * cy;

array<Point3i,4> pts = {Point3i{0,0,0},Point3i{100,0,0},Point3i{0,100,0},Point3i{0,0,100}};
array<Point3f,4> out;
for (int i=0;i<4;i++) { // rotation matrix from quaternion
out[i].x=(1-2*q.y*q.y-2*q.z*q.z)*pts[i].x+(2*q.x*q.y-2*q.z*q.w)*pts[i].y+(2*q.x*q.z+2*q.y*q.w)*pts[i].z;
out[i].y=(2*q.x*q.y+2*q.z*q.w)*pts[i].x+(1-2*q.x*q.x-2*q.z*q.z)*pts[i].y+(2*q.y*q.z-2*q.x*q.w)*pts[i].z;
out[i].z=(2*q.x*q.z-2*q.y*q.w)*pts[i].x+(2*q.y*q.z+2*q.x*q.w)*pts[i].y+(1-2*q.x*q.x-2*q.y*q.y)*pts[i].z;
}

Point loc=pcenter;
array<Point,4> imgPts; // 3D to 2D projection
for (int i=0;i<4;i++)
imgPts[i]={(int)(loc.x-out[i].x+0.5*out[i].z),(int)(loc.y-out[i].y-0.5*out[i].z)};

line(*img, imgPts[0], imgPts[3], Scalar(0,0,255), 3); // red
line(*img, imgPts[0], imgPts[1], Scalar(0,255,0), 3); // green
line(*img, imgPts[0], imgPts[2], Scalar(255,0,0), 3); // blue
circle(*img, pcenter, 5, Scalar(0,0,0), -1);
}

Explorer/RaspberryPi/Visualprocessing/Motionvector

2020-09-29T12:27:08Z

Xp31:

The Raspberry Pi is based on a BCM2835 System on a Chip (SoC), which provides an hardware (GPU) motion estimation block to the H264 encoder.<br />
The Coarse Motion Block (CME) compares macroblock (16×16 pixels) from two consecutive frames and output a vector where the macroblock came from.<br />
The vector is encoded in a single 32-bit value:<br />
- the most significant 16 bits represent a Sum of Absolute Differences (SAD = quality of the estimation, the lower is the better)<br />
- the others 16 bits represents (8-bit signed integer) the horizontal and vertical directions <br />

The code below, patch "raspivid" to provide a video buffer (gray scale image) with motion vectors.<br />
The new code compiled as "raspicv", with a custom "cv.cpp" (see below), output motion vector display to /tmp/camera3 <br />
The "cv.cpp" is limited to 640x480 grayscale image in this sample.<br />

(ref. Adam Heinrich thesis: An Optical Flow Odometry Sensor Based on the Raspberry Pi Computer)

git clone https://github.com/raspberrypi/userland.git
git clone https://github.com/adamheinrich/RaspiCV.git

Path RaspiCV/src/Makefile
< USERLAND_DIR
> USERLAND_DIR = $(HOME)/userland
...
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiHelpers.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiCommonSettings.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/RaspiGPS.c \
> $(USERLAND_DIR)/host_applications/linux/apps/raspicam/libgps_loader.c
...
< CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv` \
> CXXFLAGS = $(ARCHFLAGS) $(DBGFLAGS) $(OPTFLAGS) `pkg-config --cflags opencv4` \
...
< LDFLAGS += `pkg-config --libs opencv`
> LDFLAGS += `pkg-config --libs opencv4`
...
< LDLIBFLAGS = -Wl, ...
> LDLIBFLAGS = -ldl -Wl, ...

Update RaspiCV.c
cp userland/host_applications/linux/apps/raspicam/RaspiVid.c ~/RaspiCV/src/RaspiCV.c
and patch it
< #include <semaphore.h>
> #include "cv.h"
#include <semaphore.h>
...
if(pData->pstate->inlineMotionVectors)
{
> cv_process_imv(buffer->data, buffer->length, buffer->pts);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->imv_file_handle);
...
if (bytes_to_write)
{
mmal_buffer_header_mem_lock(buffer);
> cv_process_img(buffer->data, bytes_to_write, buffer->pts);
bytes_written = fwrite(buffer->data, 1, bytes_to_write, pData->raw_file_handle);
...
> cv_init(state.common_settings.width, state.common_settings.height, state.framerate, state.raw_output_fmt);
int initialCapturing=state.bCapturing;
while (running)
{
...
...
destroy_splitter_component(&state);
destroy_camera_component(&state);

> cv_close();

Replace de file RaspiCV/src/cv.cpp with this
#include "cv.h"
#include <opencv2/opencv.hpp>
#include <pthread.h>

using namespace cv;
using namespace std;

/*****************************************************************************/
#define SAD_LIMIT 2000
#define streamOutGstStr "appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false"

/*****************************************************************************/
struct motion_elt_t {
int8_t x;
int8_t y;
uint16_t sad;
};
static motion_elt_t *motionIn;
static Mat1b gray;
static int width,height,fps;

static pthread_mutex_t imv_mutex;
static bool imv_ready=false;

static pthread_t img_thread;
static pthread_mutex_t img_mutex;
static pthread_cond_t img_condv;
static bool img_ready=false;

static bool init_ready=false;

/*****************************************************************************/
static void *process_thread(void *ptr)
{
VideoWriter strOut = VideoWriter(streamOutGstStr,0,fps/1,Size(width,height),true);
Mat3b grayBGR;
Mat colormap;
int32_t sum_x,sum_y;

int mbx = width/16;
int mby = height/16;
int mbxy = (8 * mbx * mby);
unsigned int motionSize = ((mbx+1)*mby) * sizeof(struct motion_elt_t);
motion_elt_t *motionOut = new motion_elt_t[(mbx+1)*mby];

char buff[20];int lg;

while (true) {
pthread_mutex_lock(&img_mutex);
while (!img_ready) pthread_cond_wait(&img_condv, &img_mutex);
cvtColor(gray, grayBGR, COLOR_GRAY2BGR);
applyColorMap(grayBGR, colormap, COLORMAP_JET);

img_ready=false;
pthread_mutex_unlock(&img_mutex);

if(imv_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionOut ,motionIn, motionSize);
imv_ready=false;
pthread_mutex_unlock(&imv_mutex);
}

sum_x=0;sum_y=0;
for (int j=0;j<mby;j++) {
for (int i=0;i<mbx;i++) {
motion_elt_t *vec = motionOut + (i+(mbx+1)*j);
if (vec->x == 0 && vec->y == 0) continue;
if (vec->sad > SAD_LIMIT) continue;
int x = i*16 + 8;
int y = j*16 + 8;
float intensity = vec->sad;
intensity = round(255 * intensity / SAD_LIMIT);
if (intensity > 255) intensity = 255;
uint8_t *ptr = colormap.ptr<uchar>(0);
uint8_t idx = 3*(uint8_t)intensity;
arrowedLine(grayBGR, Point(x+vec->x, y+vec->y),
Point(x, y),
Scalar(ptr[idx], ptr[idx+1], ptr[idx+2]));

sum_x += (intensity * vec->x);
sum_y += (intensity * vec->y);
}
}

sum_x = (sum_x/mbxy);
sum_y = (sum_y/mbxy);
arrowedLine(grayBGR, Point(320,240),Point(320+sum_x,240+sum_y),Scalar(0,255,0),5);

drawAxes(&grayBGR);

strOut.write(grayBGR);
}
return((void *)0);
}

/*****************************************************************************/
void cv_init(int w, int h, int f, int fmt)
{
// freopen( "/tmp/error.txt", "w", stderr );
// cerr << length << endl;
// fd << static_cast<int32_t>(sum_x) << endl;

drawAxes_init();

width=w;height=h;fps=f;

gray = Mat(height, width, CV_8UC1);
motionIn = new motion_elt_t[((width/16)+1) * (height/16)];

pthread_mutex_init(&imv_mutex, NULL);

pthread_mutex_init(&img_mutex, NULL);
pthread_cond_init(&img_condv, NULL);

pthread_create(&img_thread, NULL, process_thread, (void *)0);

init_ready=true;
}

/*****************************************************************************/
void cv_process_img(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&img_mutex);
memcpy(gray.data, p_buffer, length);
img_ready=true;
pthread_cond_signal(&img_condv);
pthread_mutex_unlock(&img_mutex);
}
}

/*****************************************************************************/
void cv_process_imv(uint8_t *p_buffer, int length, int64_t timestamp)
{
if (init_ready) {
pthread_mutex_lock(&imv_mutex);
memcpy(motionIn ,p_buffer, length);
imv_ready=true;
pthread_mutex_unlock(&imv_mutex);
}
}

/*****************************************************************************/
void cv_close(void)
{
}

cd RaspiCV/src
make

[[Explorer/RaspberryPi/Visualprocessing/Motionvector/Run]]

Explorer/RaspberryPi/Visualprocessing/Motionvector/Run

2020-09-29T12:19:31Z

Xp31:

rm /tmp/camera*;
/home/pi/RaspiCV/build/raspicv -t 0 -w 640 -h 480 -fps 30/1 -b 500000 -cd H264 -n -a ENAC -ae 22 -x /dev/null -r /dev/null -rf gray -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream \
! udpsink host=127.0.0.1 port=5100
gst-rtsp-server-1.14.4/examples/test-launch \
"udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
"shmsrc socket-path=/tmp/camera3 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1"

client<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false<br />
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false<br />
___________________

airpi.sh
...
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 6 -u 5610 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
...
/home/pi/RaspiCV/build/raspicv -t 0 -w 640 -h 480 -fps 30/1 -b 500000 -cd H264 -n -a ENAC -ae 22 -x /dev/null -r /dev/null -rf gray -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5610 &
sleep 10
gst-launch-1.0 shmsrc socket-path=/tmp/camera3 do-timestamp=true \
! video/x-raw, format=BGR, width=640, height=480, framerate=30/1, colorimetry=1:1:5:1 \
! v4l2h264enc extra-controls="controls,video_bitrate=3000000;" \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 &
...

groundpi.sh
...
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 6 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5610 wlan1 &
...
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5620 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay \
! video/x-h264,stream-format=byte-stream \
! fdsink | /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
...
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
"udpsrc port=5600 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" &
...

[[Explorer/RaspberryPi/Visualprocessing]]

Explorer/RaspberryPi/Softwares/rtsp-server

2020-09-29T11:46:18Z

Xp31:

[[Explorer]]

[[Explorer/RaspberryPi]]

* Install Server RTSP

sudo apt-get install libglib2.0 -y;\
sudo apt-get install libgstreamer1.0-dev -y;\
sudo apt-get install libgstreamer-plugins-base1.0-dev -y

gst-launch-1.0 --version
=> gst-launch-1.0 version 1.14.4

wget http://gstreamer.freedesktop.org/src/gst-rtsp-server/gst-rtsp-server-1.14.4.tar.xz
tar -xf gst-rtsp-server-1.14.4.tar.xz
rm gst-rtsp-server-1.14.4.tar.xz
cd gst-rtsp-server-1.14.4/
./configure

~/gst-rtsp-server-1.14.4/examples/test-launch.c
patched with second stream
"
GstRTSPMediaFactory *factory2;
factory2 = gst_rtsp_media_factory_new ();
gst_rtsp_media_factory_set_launch (factory2, argv[2]);
gst_rtsp_mount_points_add_factory (mounts, "/test2", factory2);
"
cd ~/gst-rtsp-server-1.14.4
make
sudo make install

* Check installation with camera unicast
Server
rm /tmp/camera*;\
raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5100 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! omxh264dec \
! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false

gst-rtsp-server-1.14.4/examples/test-launch \
"udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
"shmsrc socket-path=/tmp/camera2 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1"

client:
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false

gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false

Explorer/RaspberryPi/Softwares/gstreamer

2020-09-29T11:45:26Z

Xp31:

[[Explorer]]

* Install gstreamer
sudo apt-get install gstreamer1.0-plugins-base -y; \
sudo apt-get install gstreamer1.0-plugins-good -y; \
sudo apt-get install gstreamer1.0-plugins-bad -y; \
sudo apt-get install gstreamer1.0-plugins-ugly -y; \
sudo apt-get install gstreamer1.0-libav -y; \
sudo apt-get install gstreamer1.0-omx -y; \
sudo apt-get install gstreamer1.0-tools -y

* Check installation with camera unicast
| --> camera1 (x-h264) --> port=5000
raspivid (x-h264) --> |
| omxh264dec --> camera2 (x-raw,I420) --> omxh264enc --> port=5100

Server:
rm /tmp/camera*; \
raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream \
! tee name=streams \
! omxh264dec \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false

gst-launch-1.0 shmsrc socket-path=/tmp/camera1 do-timestamp=true \
! video/x-h264,stream-format=byte-stream,alignment=au \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=CLIENTIP port=5000

gst-launch-1.0 shmsrc socket-path=/tmp/camera2 do-timestamp=true is-live=true \
! video/x-raw,format=I420,width=640,height=480,framerate=15/1 \
! omxh264enc \
! video/x-h264,profile=high \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=CLIENTIP port=5100

Client: (port 5000 and 5100)
gst-launch-1.0 udpsrc port=5000 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay \
! h264parse \
! avdec_h264 \
! videoconvert \
! autovideosink

* [[Explorer/RaspberryPi/Softwares/rtsp-server]]

Explorer/RaspberryPi/Softwares/gstreamer

2020-09-29T11:44:55Z

Xp31:

Explorer/RaspberryPi/Softwares

2020-09-29T11:44:13Z

Xp31:

[[Explorer]]

* Update softwares

sudo apt-get update
sudo apt-get upgrade
(20 minutes)

* Install new softwares

[[Explorer/RaspberryPi/Softwares/gstreamer]]

[[Explorer/RaspberryPi/Softwares/rtsp-server]]

Explorer/RaspberryPi/Setup

2020-09-29T11:43:38Z

Xp31:

[[Explorer]]

[[Explorer/RaspberryPi/Softwares]]

* Installation
Download and install raspbian (debian for raspberry) lite package (same for PI3 and PIzero)<br />
Raspberry Pi OS (32-bit) Lite (buster : 433M)

wget https://downloads.raspberrypi.org/raspbian_lite_latest

Flash the RaspberryPi OS on a 16Gb minimum size SD

mv raspbian_lite_latest raspbian_lite_latest.zip
./balenaEtcher-1.5.79-x64.AppImage

* Initial configuration:
PI3 and PIZero can be configured headless, without a keyboard and a display.<br />
You just need to configure the board to connect to a wifi hotspot when power on.<br />

* Plug the memory SD card with the fresh raspbian installed.

Create file (sudo touch)
boot/ssh

Create the file with following content (sudo vi)
boot/wpa_supplicant.conf
"
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=FR
network={
ssid="Androidxp"
psk="pprzpprz"
}
network={
ssid="pprz_router"
key_mgmt=NONE
}
"
* Plug the SD memory card in the raspberry Pi and power on.
* Connect your computer to the same wifi hotspot
* Look for the Raspberry IP on the network
nmap -sn 192.168.1.0/24

* Connect to the identified IP
ssh pi@...
password: raspberry

* Set the configuration
sudo raspi-config
1) change user password
5) P1) enable camera
P6) login shell:disable
serial interface:enable
7) advanced options
A1) expand filesystem

/etc/hosts
127.0.1.1 raspberrypi
to 127.0.1.1 airpi or groundpi

/etc/hostname
raspberrypi to airpi or groundpi

/etc/dhcpcd.conf
"
# It is possible to fall back to a static IP if DHCP fails:
# define static profile
profile static_eth0
static ip_address=192.168.3.2/24
static routers=192.168.3.1
static domain_name_servers=192.168.3.1
# fallback to static profile on eth0
interface eth0
fallback static_eth0
"

/boot/config.txt
"
dtoverlay=pi3-disable-bt
"

sudo systemctl stop serial-getty@ttyAMA0.service
sudo systemctl disable serial-getty@ttyAMA0.service

sudo systemctl stop hciuart
sudo systemctl disable hciuart

Explorer/RaspberryPi

2020-09-29T11:43:03Z

Xp31:

[[Explorer]]

* [[Explorer/RaspberryPi/Setup]]

* [[Explorer/RaspberryPi/Softwares]]

* [[Explorer/RaspberryPi/Autopilot]]

* [[Explorer/RaspberryPi/Log]]

* [[Explorer/RaspberryPi/PowerOffProtection]]

* [[Explorer/RaspberryPi/Wifibroadcast]]

* [[Explorer/RaspberryPi/Wifibroadcast/Integration]]

* [[Explorer/RaspberryPi/Wifibroadcast/Run]]

* [[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

* [[Explorer/RaspberryPi/DualLink]]

* [[Explorer/RaspberryPi/Visualprocessing]]

* [[Explorer/RaspberryPi/BackupRestore]]

Explorer/PPRZ/Tunning

2020-09-29T11:42:32Z

Xp31:

[[Explorer]]

<big>Tunning the vertical loop</big>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">

Add following mode to telemetry file

<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>

Switch to NAV mode, takeoff, standby <br />
Set telemetry from default to vert_loop <br />

Plot in realtime<br />
~/Projects/paparazzi/sw/ground_segment/tmtc/messages <br />
~/Projects/paparazzi/sw/logalizer/plotter <br />

or post process ground log and data files<br />
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
<br /><br />
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight <br />
=> in flight test, adjust KP and KD

<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="0"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>

2) Set KP and KD<br />
=> in flight test, adjust KI

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>

3) Set KI, and adaptation

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="15"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>

Explorer/PPRZ

2020-09-29T11:41:41Z

Xp31:

[[Explorer]]

[[Explorer/PPRZ/Configuration]]<br />
[[Explorer/PPRZ/Tunning]]

airframe file:
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="Quadricopter XP">

<description>
* Autopilot: Tawaki/ Apogee
* Actuators: 4 in 1 Holybro BLHELI ESC
* Telemetry: XBee and Wifibroadcast (compagnon board)
* GPS: ublox M8P (optional DGPS) or Datalink
* RC: FrSky XM+ or Datalink

IMU Apogee :
- MPU6050 (acc+gyro),
- MPU9150 (acc+gyro+mag) = MPU6050 + AK8975

MAG Apogee (AK8975 on I2C1) or on external GPS board (LIS3MDL on I2C1) or Datalink

BARO Apogee (MPL3115A2 on I2C1)

</description>

<firmware name="rotorcraft">

<configure name="PERIODIC_FREQUENCY" value="1000"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
<configure name="KILL_AS_FAILSAFE" value="1"/>


<target name="ap" board="apogee_1.0_chibios"/>



</firmware>



<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_mpu9150.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_imu_apogee_mpu9150.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_target_flying.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_apogee.xml"/>









<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_outdoor.xml"/>





<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_rate.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_attitude.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_guidance.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_modules.xml"/>

</airframe>

flght_plan file:
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="148" ground_alt="146" lat0="43.5640917" lon0="1.4829201" max_dist_from_home="20" name="Rotorcraft Optitrack (ENAC)" security_height="0.3">
<header>

</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="GOAL" x="2.0" y="2.0"/>
<waypoint name="STDBY" x="-0.7" y="-0.8"/>
<waypoint name="TD" x="0.8" y="-1.7"/>
<waypoint name="S1" x="2.1" y="2.8"/>
<waypoint name="S2" x="2.0" y="-3.0"/>
<waypoint name="S3" x="-2.1" y="-3.1"/>
<waypoint name="S4" x="-2.2" y="2.8"/>
<waypoint name="_N1" x="4.5" y="5.2"/>
<waypoint name="_N2" x="4.5" y="-5.2"/>
<waypoint name="_N3" x="-4.5" y="-5.2"/>
<waypoint name="_N4" x="-4.5" y="5.2"/>
</waypoints>
<sectors>
<sector color="red" name="Net">
<corner name="_N1"/>
<corner name="_N2"/>
<corner name="_N3"/>
<corner name="_N4"/>
</sector>
<sector color="green" name="Survey" type="dynamic">
<corner name="S1"/>
<corner name="S2"/>
<corner name="S3"/>
<corner name="S4"/>
</sector>
</sectors>
<modules>
<module name="nav" type="survey_rectangle_rotorcraft"/>
</modules>
<blocks>
<block name="Wait GPS">
<call_once fun="NavKillThrottle()"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Holding point">
<call_once fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine">
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="STDBY"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<call_once fun="nav_set_heading_deg(0)"/>
<stay wp="STDBY"/>
</block>
<block name="START" strip_button="Go" strip_icon="lookfore.png">
<call_once fun="NavSetWaypointHere(WP_GOAL)"/>
</block>
<block name="StayGoal">
<stay wp="GOAL"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 Sweep NS SET" strip_button="SvySweep-NS" strip_icon="survey_rect_ns.png">
<call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S3, 1, NS)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 Sweep WE SET" strip_button="SvySweep-WE" strip_icon="survey_rect_we.png">
<call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S3, 1, WE)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="SvySweep CONT" strip_icon="survey_rect_run.png">
<exception cond="rectangle_survey_sweep_num == 1" deroute="Standby"/>
<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S3)"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<call_once fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<go wp="TD"/>
</block>
<block name="flare">
<exception cond="!nav_is_in_flight()" deroute="KILL_LANDED"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="KILL_LANDED">
<call_once fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>

Explorer/3DPrinted

2020-09-29T11:41:00Z

Xp31:

[[Explorer]]

<gallery>
Explorer_3DPrinted.jpg
Explorer_3DPrinted_MarkForged.jpg
</gallery>

Explorer/PPRZ/Configuration

2020-09-29T11:40:39Z

Xp31:

[[Explorer]]

xp_option_board_apogee_mpu9150.xml
<firmware>
<module name="imu" type="apogee_mpu9150">
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
<define name="APOGEE_SMPLRT_DIV" value="1"/>
</module>
</firmware>

xp_option_imu_apogee_mpu9150.xml
<airframe>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="-87"/>
<define name="ACCEL_Y_NEUTRAL" value="50"/>
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
<define name="ACCEL_X_SENS" value="2.26755822693" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.4468957791" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.45151941617" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="-1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="6"/>
<define name="MAG_Y_NEUTRAL" value="-8"/>
<define name="MAG_Z_NEUTRAL" value="45"/>
<define name="MAG_X_SENS" value="15.406512237311269" integer="16"/>
<define name="MAG_Y_SENS" value="14.315784652910315" integer="16"/>
<define name="MAG_Z_SENS" value="16.04339395369838" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
</airframe>

xp_common_target_flying.xml
<airframe>
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>

</airframe>

xp_option_target_apogee.xml
<airframe>

<module name="light_scheduler">
<define name="WS2812_NB_LEDS" value="12"/>
<define name="WS2812_SEQUENCE" value="2"/>
</module>
<module name="actuators" type="pwm"/>
<module name="switch" type="servo"/>
<module name="extra_dl">
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B115200"/>
</module>
<servos driver="Pwm">
<servo name="SWITCH" no="1" min="1000" neutral="1000" max="1900"/>
</servos>
<module name="actuators" type="dshot">
<define name="DSHOT_SPEED" value="300"/>
<define name="USE_DSHOT_TIM3" value="TRUE"/>
<define name="USE_DSHOT6" value="TRUE"/>
</module>
<servos driver="DShot">
<servo name="FR" no="0" min="0" neutral="100" max="2000"/>
<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
<servo name="BL" no="3" min="0" neutral="100" max="2000"/>
<servo name="FL" no="6" min="0" neutral="100" max="2000"/>
</servos>
</airframe>

xp_option_outdoor.xml
<airframe>
<module name="ins" />
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>

<section name="INS" prefix="INS_"/>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51385"/>
<define name="H_Y" value="0.00299"/>
<define name="H_Z" value="0.85787"/>
</section>


</airframe>

xp_option_indoor.xml
<airframe>
<module name="gps" type="datalink"/>
<module name="ins" type="gps_passthrough"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
</module>
<section name="AHRS" prefix="AHRS_">
<define name="USE_GPS_HEADING" value="1"/>
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</section>
</airframe>

xp_common_stab_rate.xml
<airframe>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
</airframe>

xp_common_stab_attitude.xml
<airframe>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>

<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

<define name="PHI_PGAIN" value="432"/>
<define name="PHI_DGAIN" value="207"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="432"/>
<define name="THETA_DGAIN" value="207"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1392"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="20"/>

<define name="PHI_DDGAIN" value="60"/>
<define name="THETA_DDGAIN" value="60"/>
<define name="PSI_DDGAIN" value="170"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
</airframe>

xp_common_guidance.xml
<airframe>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1."/>
<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="110"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="41"/>
<define name="DGAIN" value="108"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>

<define name="AGAIN" value="0"/>

</section>
</airframe>

xp_common_modules.xml
<airframe>
<module name="telemetry" type="xbee_api"/>
<module name="ahrs" type="int_cmpl_quat" />
<module name="stabilization" type="int_quat"/>
<module name="motor_mixing"/>
<module name="air_data"/>
<module name="filter" type="1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
</module>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
<define name="NAV_DESCEND_VSPEED" value="-0.4"/>
<define name="NAV_CLIMB_VSPEED" value="0.5"/>
</section>
<section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
</airframe>

Explorer/PPRZ/Configuration

2020-09-29T11:38:07Z

Xp31:

xp_option_board_apogee_mpu9150.xml
<firmware>
<module name="imu" type="apogee_mpu9150">
<define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
<define name="APOGEE_SMPLRT_DIV" value="1"/>
</module>
</firmware>

xp_option_imu_apogee_mpu9150.xml
<airframe>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_NEUTRAL" value="-87"/>
<define name="ACCEL_Y_NEUTRAL" value="50"/>
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
<define name="ACCEL_X_SENS" value="2.26755822693" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.4468957791" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.45151941617" integer="16"/>
<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="-1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<define name="MAG_X_NEUTRAL" value="6"/>
<define name="MAG_Y_NEUTRAL" value="-8"/>
<define name="MAG_Z_NEUTRAL" value="45"/>
<define name="MAG_X_SENS" value="15.406512237311269" integer="16"/>
<define name="MAG_Y_SENS" value="14.315784652910315" integer="16"/>
<define name="MAG_Z_SENS" value="16.04339395369838" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
</airframe>

xp_common_target_flying.xml
<airframe>
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>

</airframe>

xp_option_target_apogee.xml
<airframe>

<module name="light_scheduler">
<define name="WS2812_NB_LEDS" value="12"/>
<define name="WS2812_SEQUENCE" value="2"/>
</module>
<module name="actuators" type="pwm"/>
<module name="switch" type="servo"/>
<module name="extra_dl">
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B115200"/>
</module>
<servos driver="Pwm">
<servo name="SWITCH" no="1" min="1000" neutral="1000" max="1900"/>
</servos>
<module name="actuators" type="dshot">
<define name="DSHOT_SPEED" value="300"/>
<define name="USE_DSHOT_TIM3" value="TRUE"/>
<define name="USE_DSHOT6" value="TRUE"/>
</module>
<servos driver="DShot">
<servo name="FR" no="0" min="0" neutral="100" max="2000"/>
<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
<servo name="BL" no="3" min="0" neutral="100" max="2000"/>
<servo name="FL" no="6" min="0" neutral="100" max="2000"/>
</servos>
</airframe>

xp_option_outdoor.xml
<airframe>
<module name="ins" />
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<define name="USE_GPS_UBX_RTCM" value="TRUE"/>
</module>

<section name="INS" prefix="INS_"/>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.51385"/>
<define name="H_Y" value="0.00299"/>
<define name="H_Z" value="0.85787"/>
</section>


</airframe>

xp_option_indoor.xml
<airframe>
<module name="gps" type="datalink"/>
<module name="ins" type="gps_passthrough"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="FALSE"/>
</module>
<section name="AHRS" prefix="AHRS_">
<define name="USE_GPS_HEADING" value="1"/>
<define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
</section>
</airframe>

xp_common_stab_rate.xml
<airframe>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
</section>
</airframe>

xp_common_stab_attitude.xml
<airframe>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">

<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>

<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>

<define name="PHI_PGAIN" value="432"/>
<define name="PHI_DGAIN" value="207"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="432"/>
<define name="THETA_DGAIN" value="207"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1392"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="20"/>

<define name="PHI_DDGAIN" value="60"/>
<define name="THETA_DDGAIN" value="60"/>
<define name="PSI_DDGAIN" value="170"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
</airframe>

xp_common_guidance.xml
<airframe>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1."/>
<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="110"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="PGAIN" value="41"/>
<define name="DGAIN" value="108"/>
<define name="IGAIN" value="20"/>
<define name="NGAIN" value="0"/>

<define name="AGAIN" value="0"/>

</section>
</airframe>

xp_common_modules.xml
<airframe>
<module name="telemetry" type="xbee_api"/>
<module name="ahrs" type="int_cmpl_quat" />
<module name="stabilization" type="int_quat"/>
<module name="motor_mixing"/>
<module name="air_data"/>
<module name="filter" type="1euro_imu">
<define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
<define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
</module>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TYPE" value="QUAD_X"/>
<define name="REVERSE" value="TRUE"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
</command_laws>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
<define name="NAV_DESCEND_VSPEED" value="-0.4"/>
<define name="NAV_CLIMB_VSPEED" value="0.5"/>
</section>
<section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-1"/>
</section>
</airframe>

[[Explorer]]

Explorer/PPRZ

2020-09-29T11:37:40Z

Xp31:

airframe file:
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">

<airframe name="Quadricopter XP">

<description>
* Autopilot: Tawaki/ Apogee
* Actuators: 4 in 1 Holybro BLHELI ESC
* Telemetry: XBee and Wifibroadcast (compagnon board)
* GPS: ublox M8P (optional DGPS) or Datalink
* RC: FrSky XM+ or Datalink

IMU Apogee :
- MPU6050 (acc+gyro),
- MPU9150 (acc+gyro+mag) = MPU6050 + AK8975

MAG Apogee (AK8975 on I2C1) or on external GPS board (LIS3MDL on I2C1) or Datalink

BARO Apogee (MPL3115A2 on I2C1)

</description>

<firmware name="rotorcraft">

<configure name="PERIODIC_FREQUENCY" value="1000"/>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
<configure name="KILL_AS_FAILSAFE" value="1"/>


<target name="ap" board="apogee_1.0_chibios"/>



</firmware>



<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_board_apogee_mpu9150.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_imu_apogee_mpu9150.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_target_flying.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_target_apogee.xml"/>









<include href="conf/airframes/ENAC/quadrotor/xp/xp_option_outdoor.xml"/>





<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_rate.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_stab_attitude.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_guidance.xml"/>
<include href="conf/airframes/ENAC/quadrotor/xp/xp_common_modules.xml"/>

</airframe>

flght_plan file:
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">

<flight_plan alt="148" ground_alt="146" lat0="43.5640917" lon0="1.4829201" max_dist_from_home="20" name="Rotorcraft Optitrack (ENAC)" security_height="0.3">
<header>

</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="GOAL" x="2.0" y="2.0"/>
<waypoint name="STDBY" x="-0.7" y="-0.8"/>
<waypoint name="TD" x="0.8" y="-1.7"/>
<waypoint name="S1" x="2.1" y="2.8"/>
<waypoint name="S2" x="2.0" y="-3.0"/>
<waypoint name="S3" x="-2.1" y="-3.1"/>
<waypoint name="S4" x="-2.2" y="2.8"/>
<waypoint name="_N1" x="4.5" y="5.2"/>
<waypoint name="_N2" x="4.5" y="-5.2"/>
<waypoint name="_N3" x="-4.5" y="-5.2"/>
<waypoint name="_N4" x="-4.5" y="5.2"/>
</waypoints>
<sectors>
<sector color="red" name="Net">
<corner name="_N1"/>
<corner name="_N2"/>
<corner name="_N3"/>
<corner name="_N4"/>
</sector>
<sector color="green" name="Survey" type="dynamic">
<corner name="S1"/>
<corner name="S2"/>
<corner name="S3"/>
<corner name="S4"/>
</sector>
</sectors>
<modules>
<module name="nav" type="survey_rectangle_rotorcraft"/>
</modules>
<blocks>
<block name="Wait GPS">
<call_once fun="NavKillThrottle()"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Holding point">
<call_once fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine">
<call_once fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 1.0" deroute="Standby"/>
<call_once fun="NavSetWaypointHere(WP_STDBY)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="STDBY"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<call_once fun="nav_set_heading_deg(0)"/>
<stay wp="STDBY"/>
</block>
<block name="START" strip_button="Go" strip_icon="lookfore.png">
<call_once fun="NavSetWaypointHere(WP_GOAL)"/>
</block>
<block name="StayGoal">
<stay wp="GOAL"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 Sweep NS SET" strip_button="SvySweep-NS" strip_icon="survey_rect_ns.png">
<call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S3, 1, NS)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey S1-S2 Sweep WE SET" strip_button="SvySweep-WE" strip_icon="survey_rect_we.png">
<call_once fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S3, 1, WE)"/>
<deroute block="Survey RECTANGLE RUN"/>
</block>
<block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="SvySweep CONT" strip_icon="survey_rect_run.png">
<exception cond="rectangle_survey_sweep_num == 1" deroute="Standby"/>
<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S3)"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<call_once fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<go wp="TD"/>
</block>
<block name="flare">
<exception cond="!nav_is_in_flight()" deroute="KILL_LANDED"/>
<stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
</block>
<block name="KILL_LANDED">
<call_once fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>

[[Explorer/PPRZ/Configuration]]<br />
[[Explorer/PPRZ/Tunning]]

[[Explorer]]

Explorer/RaspberryPi/Setup

2020-09-29T11:37:11Z

Xp31:

* Installation
Download and install raspbian (debian for raspberry) lite package (same for PI3 and PIzero)<br />
Raspberry Pi OS (32-bit) Lite (buster : 433M)

wget https://downloads.raspberrypi.org/raspbian_lite_latest

Flash the RaspberryPi OS on a 16Gb minimum size SD

mv raspbian_lite_latest raspbian_lite_latest.zip
./balenaEtcher-1.5.79-x64.AppImage

* Initial configuration:
PI3 and PIZero can be configured headless, without a keyboard and a display.<br />
You just need to configure the board to connect to a wifi hotspot when power on.<br />

* Plug the memory SD card with the fresh raspbian installed.

Create file (sudo touch)
boot/ssh

Create the file with following content (sudo vi)
boot/wpa_supplicant.conf
"
ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=FR
network={
ssid="Androidxp"
psk="pprzpprz"
}
network={
ssid="pprz_router"
key_mgmt=NONE
}
"
* Plug the SD memory card in the raspberry Pi and power on.
* Connect your computer to the same wifi hotspot
* Look for the Raspberry IP on the network
nmap -sn 192.168.1.0/24

* Connect to the identified IP
ssh pi@...
password: raspberry

* Set the configuration
sudo raspi-config
1) change user password
5) P1) enable camera
P6) login shell:disable
serial interface:enable
7) advanced options
A1) expand filesystem

/etc/hosts
127.0.1.1 raspberrypi
to 127.0.1.1 airpi or groundpi

/etc/hostname
raspberrypi to airpi or groundpi

/etc/dhcpcd.conf
"
# It is possible to fall back to a static IP if DHCP fails:
# define static profile
profile static_eth0
static ip_address=192.168.3.2/24
static routers=192.168.3.1
static domain_name_servers=192.168.3.1
# fallback to static profile on eth0
interface eth0
fallback static_eth0
"

/boot/config.txt
"
dtoverlay=pi3-disable-bt
"

sudo systemctl stop serial-getty@ttyAMA0.service
sudo systemctl disable serial-getty@ttyAMA0.service

sudo systemctl stop hciuart
sudo systemctl disable hciuart

[[Explorer/RaspberryPi/Softwares]]

[[Explorer]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:39:20Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

chmod ugo+xwr groundpi.sh<br />

/etc/rc.local<br />
"su root -c /home/pi/groundpi.sh &"<br />
or<br />
sudo passwd root<br />
/etc/ssh/sshd_config<br />
PermitRootLogin yes
On GCS<br />
/etc/hosts
192.168.1.111 groundpi_111

ssh-keygen
ssh-copy-id -i root@groundpi_111

ssh root@groundpi_111 "/home/pi/groundpi.sh MY_GCS_IP

#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:37:32Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

chmod ugo+xwr groundpi.sh<br />

/etc/rc.local<br />
"su root -c /home/pi/groundpi.sh &"<br />
or<br />
sudo passwd root<br />
/etc/ssh/sshd_config<br />
PermitRootLogin yes
/etc/hosts
192.168.1.111 groundpi_111

ssh-keygen
ssh-copy-id -i root@groundpi_111

ssh root@groundpi_111 "/home/pi/groundpi.sh MY_GCS_IP

#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:37:08Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

chmod ugo+xwr groundpi.sh<br />

/etc/rc.local<br />
"su root -c /home/pi/groundpi.sh &"<br />
or<br />
sudo passwd root<br />
/etc/ssh/sshd_config<br />
PermitRootLogin yes
/etc/hosts
192.168.1.111 groundpi_111<br />
ssh-keygen
ssh-copy-id -i root@groundpi_111
ssh root@groundpi_111 "/home/pi/groundpi.sh MY_GCS_IP

#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:35:48Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

chmod ugo+xwr groundpi.sh<br />

/etc/rc.local<br />
"su root -c /home/pi/groundpi.sh &"<br />
or<br />
sudo passwd root<br />
/etc/ssh/sshd_config<br />
PermitRootLogin yes
/etc/hosts
192.168.1.111 groundpi_111
ssh-keygen
ssh-copy-id -i root@groundpi_111
ssh root@groundpi_111 "/home/pi/groundpi.sh MY_GCS_IP

#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:33:34Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

chmod ugo+xwr groundpi.sh<br />

/etc/rc.local<br />
"#su root -c /home/pi/groundpi.sh &"<br />
or<br />
/home/pi/groundpi.sh MY_GCS_IP<br />
sudo passwd root<br />
/etc/ssh/sshd_config<br />
PermitRootLogin yes
/etc/hosts
192.168.1.111 groundpi_111
ssh-keygen
ssh-copy-id -i root@groundpi_111

#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:30:00Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

/etc/rc.local<br />
"#su root -c /home/pi/groundpi.sh &"<br />
/home/pi/groundpi.sh MY_GCS_IP<br />
chmod ugo+xwr groundpi.sh<br />
#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/RaspberryPi/Wifibroadcast/Run

2020-09-16T06:28:46Z

Xp31:

/etc/rc.local<br />
"su root -c /home/pi/airpi.sh &"<br />
/home/pi/airpi.sh<br />
chmod ugo+xwr airpi.sh<br />
#!/bin/bash
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
#iw wlan1 info
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -c 127.0.0.1 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14900 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14901 -c 127.0.0.1 -k 1 -n 2 wlan1 &
rm /tmp/camera*; \
/usr/bin/raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -cd H264 -n -fl -ih -pf high -if both -ex sports -mm average -awb horizon -a ENAC -ae 22 -o - \
| gst-launch-1.0 fdsrc \
! h264parse \
! video/x-h264,stream-format=byte-stream,alignment=au \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! rtph264pay name=pay0 pt=96 config-interval=1 \
! udpsink host=127.0.0.1 port=5600 streams. \
! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
socat -u udp-listen:4243,reuseaddr,fork /dev/ttyAMA0,raw,echo=0,b115200 &
socat -u /dev/ttyAMA0,raw,echo=0,b115200 udp-sendto:127.0.0.1:4242 &
socat TUN:10.0.1.2/24,tun-name=airpituntx,iff-no-pi,tun-type=tun,su=pi,iff-up udp-sendto:127.0.0.1:14900 &
socat udp-listen:14901 TUN:10.0.1.2/24,tun-name=airpitunrx,iff-no-pi,tun-type=tun,su=pi,iff-up &
sleep 1
ifconfig airpituntx mtu 1400 up &

/etc/rc.local<br />
"#su root -c /home/pi/groundpi.sh &"<br />
/home/pi/groundpi.sh<br />
chmod ugo+xwr groundpi.sh<br />
#!/bin/bash
if /bin/pidof -x "wfb_tx" >/dev/null ; then
exit 1
fi
#Update GCS_IP with yours
#export GCS_IP=192.168.1.236
GCS_IP=$1
ifconfig wlan1 down
sleep 1
iw dev wlan1 set monitor otherbss
iw reg set DE
ifconfig wlan1 up
iw dev wlan1 set channel 36
iw dev wlan1_DEV set txpower fixed 4000
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5600 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 2 -u 4242 -c $GCS_IP -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 3 -u 4243 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 4 -u 14800 -k 1 -n 2 wlan1 &
/home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 5 -u 14801 -c 127.0.0.1 -k 1 -n 2 wlan1 &
gst-launch-1.0 udpsrc port=5600 \
! tee name=streams \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! udpsink host=127.0.0.1 port=5610 streams. \
! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
! application/x-rtp, encoding-name=H264,payload=96 \
! rtph264depay ! video/x-h264,stream-format=byte-stream \
! fdsink \
| /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
/home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
"\"udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1\"" "\" " &
socat -u TUN:10.0.1.1/24,tun-name=groundpituntx,iff-no-pi,tun-type=tun,iff-up udp-sendto:127.0.0.1:14800 &
socat -u udp-listen:14801 TUN:10.0.1.1/24,tun-name=groundpitunrx,iff-no-pi,tun-type=tun,iff-up &
sleep 1
ifconfig groundpituntx mtu 1400 up &

Check:
pi@groundpi:~ $ ssh 10.0.1.2
pi@10.0.1.2's password:
Linux airpi 4.19.118+ #1311 Mon Apr 27 14:16:15 BST 2020 armv6l
pi@airpi:~ $

[[Explorer/RaspberryPi/Wifibroadcast/Equipements]]

Explorer/PPRZ/Tunning

2020-08-28T06:50:18Z

Xp31:

<big>Tunning the vertical loop</big>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">

Add following mode to telemetry file

<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>

Switch to NAV mode, takeoff, standby <br />
Set telemetry from default to vert_loop <br />

Plot in realtime<br />
~/Projects/paparazzi/sw/ground_segment/tmtc/messages <br />
~/Projects/paparazzi/sw/logalizer/plotter <br />

or post process ground log and data files<br />
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
<br /><br />
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight <br />
=> in flight test, adjust KP and KD

<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="0"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>

2) Set KP and KD<br />
=> in flight test, adjust KI

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>

3) Set KI, and adaptation

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="15"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>

Explorer/PPRZ/Tunning

2020-08-28T06:49:52Z

Xp31:

'''<big>Tunning the vertical loop</big>'''
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">

Add following mode to telemetry file

<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>

Switch to NAV mode, takeoff, standby <br />
Set telemetry from default to vert_loop <br />

Plot in realtime<br />
~/Projects/paparazzi/sw/ground_segment/tmtc/messages <br />
~/Projects/paparazzi/sw/logalizer/plotter <br />

or post process ground log and data files<br />
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
<br /><br />
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight <br />
=> in flight test, adjust KP and KD

<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="0"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>

2) Set KP and KD<br />
=> in flight test, adjust KI

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>

3) Set KI, and adaptation

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="15"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>

Explorer/PPRZ/Tunning

2020-08-28T06:49:08Z

Xp31:

Explorer/PPRZ

2020-08-28T06:48:11Z

Xp31:

Explorer/PPRZ

2020-08-28T06:47:49Z

Xp31:

Explorer/PPRZ/Tunning

2020-08-27T07:30:07Z

Xp31:

Tunning the vertical loop
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">

Add following mode to telemetry file

<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>

Switch to NAV mode, takeoff, standby <br />
Set telemetry from default to vert_loop <br />

Plot in realtime<br />
~/Projects/paparazzi/sw/ground_segment/tmtc/messages <br />
~/Projects/paparazzi/sw/logalizer/plotter <br />

or post process ground log and data files<br />
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
<br /><br />
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight <br />
=> in flight test, adjust KP and KD

<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="0"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>

2) Set KP and KD<br />
=> in flight test, adjust KI

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>

3) Set KI, and adaptation

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="15"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>

Explorer/PPRZ/Tunning

2020-08-27T07:24:19Z

Xp31:

Tunning the vertical loop

Add following mode to telemetry file

<mode name="vert_loop" key_press="v">
<message name="ROTORCRAFT_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="VFF" period=".05"/>
<message name="VFF_EXTENDED" period=".05"/>
<message name="VERT_LOOP" period=".05"/>
<message name="INS_Z" period=".05"/>
<message name="INS" period=".11"/>
<message name="INS_REF" period="5.1"/>
</mode>

Switch to NAV mode, takeoff, standby <br />
Set telemetry from default to vert_loop <br />

Plot in realtime<br />
~/Projects/paparazzi/sw/ground_segment/tmtc/messages <br />
~/Projects/paparazzi/sw/logalizer/plotter <br />

or post process ground log and data files<br />
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
<br /><br />
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight <br />
=> in flight test, adjust KP and KD

<define name="HOVER_KP" value="90"/>
<define name="HOVER_KD" value="120"/>
<define name="HOVER_KI" value="0"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>

2) Set KP and KD<br />
=> in flight test, adjust KI

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="0"/>

3) Set KI, and adaptation

<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="100"/>
<define name="HOVER_KI" value="15"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
<define name="ADAPT_NOISE_FACTOR" value="1."/>
<define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>

Explorer/PPRZ/Tunning

2020-08-27T07:22:21Z

Xp31: