multirobot 0.0.9

Multirobot

An asyncio-based multi-robot (MAV for now) orchestration framework

Serial Device Registry

sudo mkdir /dev/serial/by-name/
sudo ln -s /dev/serial/by-id/usb-Espressif_USB_JTAG_serial_debug_unit_F4\:12\:FA\:DC\:98\:F8-if00 /dev/serial/by-name/m5stamp-forwarder
sudo ln -s /dev/serial/by-id/usb-Espressif_USB_JTAG_serial_debug_unit_48\:CA\:43\:B6\:44\:48-if00 /dev/serial/by-name/m5stamp-uav
sudo ln -s /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0 /dev/serial/by-name/elrs-transmitter1
sudo ln -s /dev/serial/by-id/usb-1a86_USB_Single_Serial_5969026050-if00 /dev/serial/by-name/elrs-transmitter2

ELRS

Using the Jumper Aion ELRS 2.4G TX Nano:

• USB does not seem to be powerful enough to power the module
• Attach it to TX (tested with RadioMaster Zorro)
• Go into the currently selected model menu and disable the internal RF, enable external CRSF
• Go into the ELRS menu
• Bind with the model using the Menu
• Enable Wifi in the menu
• Go to 10.0.0.1/hardware.html change pins: RX: 3 TX: 1 (note this will prohibit communication with the TX handset because it will listen on its own USB serial for CRSF communication)
• Test using DeckTX (921600 Baud)
• Disable Model Match (bind to normal transmitter with the ELRS Lua script, and disable Model match there).
• Make sure the propeller directions (CW/CCW) are not inverted (front-left: CW, front-right: CCW, back-left: CCW, back-right: CW)
• Use the LED colors if available to check if the Mocap feedback works. Set to mode Color and then modulate by e.g. "Roll" which is the x displacement in our Mocap over ELRS conventions
• Disable Telemetry on the Drone to reduce RF load

PX4

These might not be necessary conditions but this set of settings has been found to be sufficient in aggregate:

1. ELRS Receiver: Disable telemetry transmission on the ELRS receiver
2. DroneBridge

• Lower the max packet size to 16
• Set Baudrate to 921600
• Don't make contact with the carbon fiber frame

3. PX4

• Set MAV_0_MODE to External Vision
• Set MAV_0_RATE to 500 B/s
• Set SER_TEL1_BAUD to 921600
• Use the SanDisk 32GB Extreme U3 SD card to prevent logging dropouts
• Configure just a few topics in the etc/logging/logger_topics.txt
• Check listener rl_tools_policy_status for the visual_odometry_dt_std and visual_odometry_dt_max 3000 and ~30000 (uS) are decent values respectively (when feeding Mocap at 100Hz)

4. Laptop

• Run forwarding script with sudo nice -n-20
• Disconnect from Wifi
• sudo -E nice -n-20 ./.venv/bin/python choreo/individual_px4.py

4. Vicon:

• 100Hz
• Enable tracking
• Make Tracker.exe Real-time priority

5. GL.inet MT300N-v2

• Wifi running on Mode: Client Channel: 8 (2.447 GHz) HT Mode: HT20 (though Channel 1 might be better with ELRS in the same room)

Deadman Switch

Ikkegol footpedal:

sudo gpasswd -a $USER input