19.1.5. Deploying HippoCampus

Flashing the PixRacer

Todo

Flash the PX4-Autopilot firmware onto the PixRacer. Select correct Airframe.

PX4 Parameters

Set EKF2_AID_MASK to vision position fusion and vision yaw fusion. This is probably a value of 24.

Set EKF2_HGT_MODE to Vision

Good starting gains for the Geometric Attitude Controller are:

Parameter	Value
UUV_ROLL_P	5.0
UUV_ROLL_D	0.5
UUV_PITCH_P	5.0
UUV_PITCH_D	1.0
UUV_YAW_P	8.0
UUV_YAW_D	1.0

PixRacer Calibration

Just follow the steps in QGroundControl. Probably a good idea to step away from the steel water tank.

Camera Calibration

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

Copy file to ~/catkin_ws/src/camera/config/calib_ov9281_00.yaml on RaspberryPi.

Launch Setup

Tethered Setup

ROS network setup

The ROS master will be running on the main RaspberryPi on HippoCampus. Set the ROS_MASTER_URI on your computer to http://hippo-main-XX.local:11311.

In case of errors, checklist to work through. Maybe this should be in a seperate debugging section.

Start this on HippoCampus:

roslaunch hippocampus_common hardware_hippo.launch vehicle_name:=uuv00

IP address for QGC computer can be changed by adding

roslaunch hippocampus_common hardware_hippo.launch vehicle_name:=uuv00 qgc_ip:=192.168.0.100

Start this on a computer of your choice:

roslaunch hippocampus_common offboard_hippo.launch vehicle_name:=uuv00

Autonomous Setup

Pretty much the same, this time just launch all necessary nodes on HippoCampus. It might be a good idea to make use of the Buddy RaspberryPi as well.

Todo

TBD

Offboard Mode

Set mode to Offboard in QGC.

Arming the Vehicle

Now, you can arm the vehicle in QGC. Try not to move the vehicle too much. If you absolutely cannot arm due to preflight errors, you can force arm using a rosservice.

Force arming via mavros

rosservice call /uuv00/mavros/cmd/command "{broadcast: false, command: 400,confirmation: 0, param1: 1, param2: 21196, param3: 0.0, param4: 0.0,param5: 0.0, param6: 0.0, param7: 0.0}"

Force disarming

rosservice call /uuv00/mavros/cmd/command "{broadcast: false, command: 400,confirmation: 0, param1: 0, param2: 21196, param3: 0.0, param4: 0.0,param5: 0.0, param6: 0.0, param7: 0.0}"

Final Steps

Look! It’s running just perfectly fine without any trial and error.