GettingTheGCSRunningonAGumstixBoard
Intro
Please take note that the page is in work at the moment and that I am doing my best to have it updated as soon as possible.
Would it not be great to have your small UAS in your backpack, throw it in the air and monitor and even adjust the flight via a small device in your pocket? If you think this would be awesome, read on, since that is what this page is all about. It is the first attempt and will not be about iPad, Android Phones, Amazon Kindles or the likes as a ground station. For this we have other wiki pages. No, we will use a thrusted solution; A Gumstix with Linux on it.
Outcome
Have the Paparazzi GCS monitoring and adjusting a UA via an small Gumstix based device.
Hardware
What do you need to get this working:
- A gumstix board
- Camera
- 3.5" screen (such as the LCD panel with the Chestnut) or 4.3"
Software
Needed softwares to run this application:
- Paparazzi software
- Kivy library
- Ubuntu kernel on your Gumstix
- Driver for the camera in order to be used with the Gumstix
How to start
Well, we have some tutorials on this wiki about how to install Paparazzi. If you need any help to install Kivy, please look at their website, you will find there a good tutorial about how to get started.
Create an OS
Pre-requisites
4GB SD card or larger Download the pre-built image from [vexpress-ics-gcc47-armlt-staging-alt-open.img.gz]
Installation Steps
unzip the downloaded pre-build image Insert SD card and note the assigned '/dev/sdX'
$ dmesg
$ SDCARD=/dev/sdX (sdcard found from dmesg above)
$ sudo dd bs=64k if=vexpress-ics-gcc47-armlt-staging-alt-open.img of=$SDCARD
Continue with the instructions below to Configure your TC2 board to boot the image [link].
Once you have the image written on your sd card you can insert it in the Gumstix and boot up. Then type the following in the CuteCom command prompt:
printenv setenv defaultdisplay lcd43 saveenv run mmcboot
After that you can reboot your system.
Connecting peripherals
When you have a Linux version running on your Gumstix, you can add a LCD, or a mouse, or a keyboard.
To set up your LCD you must follow these steps:
Connect trough CuteCom to the Gumstix Restart the board and hit a key within 5 seconds:
Hit any key to stop autoboot: 5
Then type the following in the CuteCom command prompt:
setenv defaultdisplay lcd43
Or, if you are using a 3.5" screen (such as the LCD panel with the Palo35):
setenv defaultdisplay lcd35
You can save this setting for future boots by saving it:
saveenv
Finally, continue with the boot process by typing in CuteCom command prompt:
boot
Connect to the Gumstix trought the network
If you want to send files to the Gumstix, you can do it via a ssh connection. In order to do this, both devices, your computer and the Gumstix must be connected to the same same network. Once you did this, you can start setting up the connection. Fistly, you need to know the IP address of the Gumstix. Start by opening CuteCom and connect to the device. When the system loaded, type into CuteCom command prompt:
ifconfig -a (if you can't use this command from any reason you can get a list with all the ips on the network using 'arp -a')
Among the data returned, you will see something like this:
eth0
Link encap:Ethernet HWaddr 00:15:c9:28:c9:ff
inet addr:169.16.29.3
Now enter into the command prompt:
sudo dhclient eth1 169.16.29.3
When this is done, install on the Gumstix openssh write into the command prompt:
sudo apt-get install openssh-server
Set a password:
sudo passwd username password (replace password with any string you want as password) password (retype the password you chose)
Now you should be able to connect using:
ssh root@169.16.29.3
Remove the login prompt
You may want to set your OS to auto-login. Why? Because you may not have at any time a keyboard for the Gumstix around. It is explained here very well how to do it. You have to write in your command prompt:
sudo vi /etc/lightdm/lightdm.conf
and then modify the lines as indicated on the webpage above.
There is a chance to get an error like this "Gtk-WARNING **: Locale not supported by C library.". To solve this write into your command prompt:
sudo locale-gen en_US.UTF-8
or the right locale for your keyboard. If this didn't solve your problem, you may want to read here more about it.
Remove the Lightdm GUI for freeing memory
sudo apt-get remove lightdm
After this step you must reboot.
Install paparazzi on the gumstix
Errors: W: Failed to fetch http://www.cl.cam.ac.uk/~lpw25/ocaml-rpi/dists/wheezy/main/binary-armel/Packages 404 Not Found
W: Failed to fetch http://paparazzi.enac.fr/debian/dists/wheezy/main/binary-armel/Packages 404 Not Found
E: Some index files failed to download. They have been ignored, or old ones used instead. E: dpkg was interrupted, you must manually run 'sudo dpkg --configure -a' to correct the problem. root@linaro-ubuntu-desktop:~# sudo dpkg --configure -a
- Install Ocaml 4.0
wget -O ocaml-4.00.0.tar.gz http://caml.inria.fr/pub/distrib/ocaml-4.00/ocaml-4.00.0.tar.gz cd ocaml-4.00.0 ./configure make world make opt make install
Attempt 10
sudo add-apt-repository ppa:paparazzi-uav/ppa (press enter as you will be asked) sudo apt-get install ocaml-findlib libxml-light-ocaml-dev liblablgtk2-ocaml-dev liblablgtk2-gnome-ocaml-dev libocamlnet-ocaml-dev libsdl-ocaml-dev libpcre-ocaml-dev gtk2-engines-pixbuf make gcc g++ libgsl0-dev gnuplot libgnomecanvas2-dev bzip2 git libusb-dev speech-dispatcher glade imagemagick libpcre3-dev sudo apt-get install bzip2 git-core make gcc g++ gnuplot glade imagemagick libpcre3-dev libusb-dev python-usb python-lxml python-wxgtk2.8 speech-dispatcher libgnomecanvas2-dev m4 sudo apt-get install python-lxml, python-wxgtk2.8, python-usb, python-yaml sudo apt-get update sudo apt-get install libocamlnet-ocaml sudo apt-get install libocamlnet-ocaml-dev could not install sudo apt-get install liblablgtk-extras-ocaml-dev
Note: because of an error that occured, I installed the packages one by one and the process was succesfully.
git clone https://github.com/paparazzi/paparazzi-portability-support.git cd paparazzi-portability-support/linux sudo ./develenv.sh sudo apt-get install libxt-dev tcl8.4-dev
75 sudo apt-get install libocamlnet-ocaml-dev
83 git clone https://github.com/paparazzi/paparazzi-portability-support.git 84 cd paparazzi-portability-support/linux 85 sudo ./develenv.sh 86 sudo apt-get install libxt-dev tcl8.4-dev 87 cd ~/paparazzi-portability-support/linux/ivy/ivy-c 88 cd ../../ 89 mv paparazzi-portability-support/ ../ 90 cd ../paparazzi-portability-support/ 91 pwd 92 cd linux 93 cd ivy/ivy-c/ 94 fakeroot debian/rules get-orig-source
97 sudo apt-get install subversion 98 fakeroot debian/rules get-orig-source 99 tar -xvzf ivy-c_3.12.1.orig.tar.gz 100 cd ivy-c-3.12.1/ 101 rm -rf debian/ 102 cp -r ../debian . 103 dpkg-buildpackage -rfakeroot -us -uc 104 cd .. 105 sudo dpkg -i ivy-c_3.12.1-1_armel.deb ivy-c-dev_3.12.1-1_armel.deb 128 cd ~/paparazzi-portability-support/linux/ivy/ivy-c
130 ivy-c-3.12.1/ 131 cd ivy-c-3.12.1/
137 make install 140 cd ~/paparazzi-portability-support/linux/ivy/ivy-ocaml 141 fakeroot debian/rules get-orig-source 142 cd ivy-ocaml-1.1/ 143 cp -r ../debian . 144 make 145 svn checkout http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk/ ivy-ocaml
156 mv ivy-ocaml/ _ivy-ocaml.old 157 svn checkout http://svn.tls.cena.fr/svn/ivy/ivy-ocaml/trunk/ ivy-ocaml 158 cd ivy-ocaml/ 166 make 170 make install 171 dpkg-buildpackage -rfakeroot -us -uc
1 dpkg-buildpackage -rfakeroot -us -uc 2 ll 3 cd src/ 4 ll 5 cd .. 6 cd ~ 7 ll 8 mk develop 9 mkdir develop 10 cd develop/ 11 ll 12 git clone https://github.com/paparazzi/paparazzi-portability-support.git 13 cd paparazzi-portability-support/linux 14 sudo ./develenv.sh 15 sudo adduser test sudo 16 sudo adduser sergiu sudo 17 su root 18 cd paparazzi-portability-support/linux 19 sudo ./develenv.sh 20 su root 21 logout 22 exit 23 dpkg-buildpackage -rfakeroot -us -uc 24 sudo dpkg-buildpackage -rfakeroot -us -uc 25 login 26 su login 27 su root 28 exit 29 sudo dpkg -i ivy-c_3.12.1-1_arm**.deb ivy-c-dev_3.12.1-1_arm**.deb 30 su root 31 exit 32 fakeroot debian/rules get-orig-source 33 su root 34 exit 35 sudo cd rules 36 ls 37 su root 38 exit 39 fakeroot debian/rules get-orig-source 40 ls 41 cd debian 42 ls 43 cd rules 44 sudo cd rules 45 sudo passwd sergiu 46 su root 47 exit 48 cd develop/ 49 ll 50 cd paparazzi-portability-support/ 51 ll 52 cd linux 53 ll 54 sudo develenv.sh 55 ./develenv.sh 56 sudo ./develenv.sh 57 sudo apt-get install libxt-dev tcl8.4-dev 58 cd .. 59 cd linux/ivy/ivy-c 60 ll 61 fakeroot debian/rules get-orig-source 62 tar -xvzf ivy-c_3.12.1.orig.tar.gz 63 cd ivy-c-3.12.1/ 64 rm -rf debian/ 65 cp -r ../debian . 66 dpkg-buildpackage -rfakeroot -us -uc 67 find replace-mkdirhier.patch 68 find -iname replace-mkdirhier.patch 69 ll 70 cd debian/ 71 ll 72 rm patches/ 73 rmdir patches/ 74 rm -rf patches/ 75 rmdir patches/ 76 ll 77 dpkg-buildpackage -rfakeroot -us -uc 78 touch changelog 79 dpkg-buildpackage -rfakeroot -us -uc 80 ll 81 cd .. 82 dpkg-buildpackage -rfakeroot -us -uc 83 sudo dpkg-buildpackage -rfakeroot -us -uc 84 history 85 dpkg-buildpackage -rfakeroot -us -uc 86 top 87 dpkg-buildpackage -rfakeroot -us -uc 88 sudo make clean 89 cat Makefile 90 ll 91 cd .. 92 ll 93 cd ivy-c-3.12.1/ 94 ll 95 cd src/ 96 ll 97 ivy-c-3.12.1/make clean 98 make 99 sudo make install 100 cd .. 101 cd ../../ 102 cd ivy-ocaml/ 103 ll 104 fakeroot debian/rules get-orig-source 105 cd ivy-ocaml-1.1/ 106 ll 107 make 108 cd ../../ivy-c/ 109 ll 110 cd ivy-c-3.12.1/ 111 ll 112 cd src/ 113 ll 114 cat Makefile 115 grep -Ri fPIC Makefile 116 cd ../../ 117 cd ../ 118 cd ivy-ocaml/ 119 ll 120 cd ivy-ocaml-1.1/ 121 ll 122 grep -Ri fPIC Makefile
Experimental steps
- Remove LightDM GUI to preserver Gumstix memory
{TODO: Describe STEPS}
{install python} {install ivy python} {install kivy}
Compile example
Source of Example
X11 server to display on LCD
Installing
Testing
Next
The next step will be to make onboard video work in the GCS.