Windows Terminal enables multiple tabs that can switch between many Linux terminals, PowerShell, and more. Directions to install Windows Terminal are here. This connection prevents re-authentication requests when accessing remote repositories such as GitHub after closing WSL or restarting Windows. The first time a Git operation requires credentials a dialog box will appear automatically to enter your credentials.
From within Windows, the WSL distribution's files are located at type in windows Explorer address bar :. Skip to content. Star Permalink master. Branches Tags. This directory is created at the same level as the ardupilot directory i. Because of the inconvenient name you'll need to change the file extension to ". Skip to content. Star Permalink master. Branches Tags. Could not load branches. Could not load tags. Raw Blame. To start this, simply hit the start button as shown in the figure below.
Calibration will begin collecting required sensor data and the progress of the calibration of the selected compass is shown in the green progress bar. Then, rotate the drone on its level then rotate again with it upside down.
By the end the progress bar should have reached its end and a message to tell completion and prompt restart will be shown. There are 2 built-in compasses in the navio2 flight controller. If both compass 1 and 2 are used checked. They both have to be calibrated. If any of the compasses keeps reload the green progress bar keeps restart again after it progresses to the end repeatedly when being calibrated, uncheck that problematic compass, i.
After rebooting, in order to see the newly calibrated compass offset value, click to go to any other tabs and then back to the compass calibration tab. The offset values are preferably less than for all directions to be considered successful values are shown in green. If the values are more than in yellow or in red , redo the calibration. Offsets value that are too high may cause the quadcopter to fail the pre-arm check list. Sometimes the failure to arm a quadcopter due to compass offset disappears even after you re-check compass as a component of the pre-arm check requirement.
Radio calibration was carried out to let the Flight controller FC know the range of PWM that each channel of radio is sent from the transmitter to the receiver before the FC can translate them into flight control actions. Then, move the left and right sticks on your trnsmitter in all directions while checking that each of them is responding to the right channel as shown below. The left stick controls the yaw left and right and throttle up and down , while the right stick controls roll left and right and pitch up and down.
Bring each stick to their 2 extreme ends to get the full range of their PWM value recorded. As the stick is pushed to its extremes, and the red markers that specify the range of radio PWM will expand to the side.
If the stick does not respond to the right channel as discussed, modification on the transmitter has to be made, but the transmitter usually would only allow modification on channels other than the first 4, which are fixed for. Note: Please make sure that the transmitter vehicle setting is copter and not other types of vehicles.
If the direction of the response of any radio channel is inverted, reverse the channel signal either through setting on the transmitter or the Mission Planner. For example, if the pitch is shown to be positive in the radio configuration when you push the right stick up, that radio channel can be reversed.
After that, all available channels have their radio calibrated by throwing each switch into different directions. With the transmitter throttle stick left fully pushed up, start your flight controller.
Then, after a while, pull the throttle down. The ESC calibration will complete after the long beeping sound stops. If the beeping persists forever, give up the calibration and restart your quadcopter normally with your throttle at minimum.
Some ESC calibration will be performed every time they are first connected to the power supply, and is marked by long beeping sounds with the FC LED blinking in read and blue. After all calibration the beeping sound is gone. If not then the calibration steps may not be complete.
Follow through all the wizard just to make sure you covered all the mandatory calibration and setups. Check also if the selected frame type is correct. It is recommended to set failsafe for the quadcopter to land at low board voltage unless the board voltage measurement by the FC is not accurate.
It is easier and more convenient to use a BB alarm instead. The BB alarm is connected to the Li-Po battery to trigger an alarm whenever the battery voltage drops below a specified limit. The battery voltage below which the alarm is triggered can be set easily through a simple button push that can be found on the BB alarm. It is safe to set it at 3. Radio communication is a crucial component whose failure can cause your quadcopter to be gone forever.
Do not use components that can have interference with the radio channel frequency and always check the transmitter voltage and functionality. Safeguard your quadcopter by setting a failsafe for the radio communication by which the quadcopter will Return to Launch RTL whenever the radio communication is lost.
The quadcopter can only be armed after all the safety pre-arm checks are completed, which also includes all of the above flight calibration steps.
As aforementioned, the primary channels channel 1 to 4 are fixed for the specific type of vehicle selected. The Auxiliary channel on the other hand, can be altered according to our needs.
Different transmitters have different methods of setting for the auxiliary channel. Each channel is controlled by a switch on the transmitter. The radio channel setting on your radio transmitter has to be collaborated with the setting on the Mission Planning, and the actual mode that your quadcopter holds to will be as shown in the Mission Planner not as shown in your Radio transmitter. The flight mode setting in the Mission Planner uses fixed and default channel 5 from your radio.
Our aim here is we want to utilise most out of the 6 flight modes switching offered by Mission Planner across the PWM range in channel 5. Therefore, on your radio transmitter, change the auxiliary channel, Channel 5, to be controlled by a suitable 3-way switch if you have one. Throw your switch to different positions to test which flight modes that were being engaged at different positions.
My 3-way switch at channel 5 engages Flight Mode 1 when switch position is at Bottom , Flight Mode 4 when switch position is Mid and Flight Mode 6 when switch position is at top.
Now change on Mission Planner the by selecting from the drop-down list the modes that we want the quadcopter to engage, i. Now try to look at the current mode shown to see the changes as you throw your switch across different positions. In my case, for example, the current mode will change from stabilise bottom to Altitude Hold Mid and Loiter Top. Need not worry if your radio transmitter only has 2-way switches. Use the 2 Flight Modes for the mode you think is most important for you.
I would suggest Stabilise the basic one , and Altitude Hold Important if you are not pro at controlling throttle. Landing a quadcopter is equally challenging and you may want to include that as well.
I would suggest Land mode to be set from a separate channel so you can leave channel 5 alone for other modes. Again, match the setting on your radio transmitter with that on Mission Planner. For example, we first made sure that we set channel 8 to be controlled by a switch 2-way that we want to use to Land the quadcopter, and then on the Mission Planner, I set channel 8 Opt as Land.
Land will be a prioritised mode over all others. This means that if my channel 5 is set as stabilise say with switch C at bottom , and my channel 8 is set to land say with switch F on , the quadcopter will go for Land. From there, always test out different switching of the switches you have set to see if the quadcopter really engage the modes that you desire at all times. As shown in the above diagram, there are 2 more channels from channel 6 and channel 7 where you can use to engage other desired flight modes.
The PWM value of the channel at a particular switch position is shown below the flight mode. It is not recommended to use a knob you are confident because it is hard to gauge the position and the accurate PWM output.
Some radio transmitter allow logic control of switches to control a single channel. This means that 2 switches can be used to control, say channel 5 for more outputs. An example is shown above just for better illustration. This setting can be done on your radio transmitter if it has this feature under logic switch which may be different for every transmitter. Spend some time to look through how to perform the setting.
However, it is not recommended to use logic switch unless you are confident because it might easily cause confusion due to the complexity of switching and can be dangerous at times of panic. To be on the safe side, always use a single 3-way switch and make clear labels on your radio transmitters for the different modes that the different switches will engage.
This helps you to be able to respond immediately to emergency cases such as land the quadcopter or disengage a failing mode, than having to figure out which switch to control. Above shows the summary of my switch setting as an example for your reference based on the figure on MP extended tuning above. The 3 fundamental modes that you may consider setting are Land, Stabilise and Altitude hold.
After the flight mode is set on both your transmitter and your Mission Planner connected to your drone , you will not require connection to the MP anymore to start the flight, unless you want to monitor your flight.
However, make sure you are clear of the modes you are switching into! To turn off the Arducopter, a sudo halt command is required. Similar to a PC, no proper shutting down of devices may corrupt the storage in the long run.
Therefore, a switch is installed and the program for the switch operation to turn the device off is being executed on start of the RPi. The switch installation details were being discussed in the hardware component setup section. The Raspberry Pi starts booting as soon as it receives power supply from the battery. However, there is slightly more trouble when it comes to shutting it down appropriately. We all know that appropriate shutdowns of the Raspberry Pi microcomputer can be as important as shutting down your PCs appropriately.
The shutting down can only be executed after logging into Raspberry Pi, either through proper connections with keyboard or mouse and monitor, or secure shell SSH to laptop via PuTTY. Forced shutting down by unplugging the supply may result in SD card corruption in the long run. The idea is to write a program that runs on boot in the Raspberry Pi, that whenever GPIO 17 Pin 11 , for example, is shorted to the ground through a momentary push button switch , the Raspberry Pi will run the command to shut itself down automatically.
It is very straightforward and easy for everyone. The contents of the RetroPie text file can be opened with notepad or WordPad, and the commands in the text file are copied one after another, into the pi navio command interface as shown below. To test out, first find a wide and empty open field with little obstructions or trees. Carry with you your laptop Mission Planner , your drone, and all necessary equipment such as transmitter, spare propellers, spanner for tightening the motor cap if needed, cable ties if needed, etc.
Connect your telemetry ground and air module to your laptop and to the flight controller respectively. On Mission Planner, go to the Flight Mode tab. Use a mouse to easier navigate through the map. The mouse scroll wheel can be used to zoom in and out of the map, and then use the left-click to drag the map to interactively navigate to any directions.
A pop-out dialogue box will ask if you want to set the current coordinate of your drone as the Home location the point for your drone to take-off. With the GPS antenna properly connected to the MCX connector on the Flight Controller see component setup , the Google map will load automatically the map where your drone is currently at.
Next, on the map, perform path planning or mission planning by clicking on points WP where you want your drone to follow through as shown below, one WP after another. During the path planning, a WayPoint table is automatically generated. The WP table contains the coordinates of location of each of the selected WP and the commands we want the drone to execute at specific WPs. Move your cursor to the line that separates between the map and your table and pull down to enlarge the map with respect to the table.
An example of the WP table is as shown above. Make sure that your drone will not hit any objects such as trees, poles and etc. Set the desired altitude to a suitable value. It is advisable that the autonomous flight has a ground clearance of at least 5 metres.
Set it higher to overcome trees, lampposts and other objects. Make sure also that the flight path is complete and there is no WPs that is out of the zone. Be very careful in this because sometimes WPs that are not desired will appear in between and that is shown by yellow lines extending to other locations, Make sure to delete the wrong WPs before any actions are done.
On the action panel as shown above, there are 4 actions that are important, which are Save, Load, Read and Write. To load a saved WP file, press the Load button and direct to where you have saved your WP file and open it. The WP table will be loaded to your Mission Planner. Double check if the loaded mission is really the mission you intend to run. This requires the drone to be connected with the GCS through a telemetry module. Perform the read for several times to make sure your drone is told what to do.
Your drone should now be placed as mentioned such that the loaded coordinates coincide with the Home Location press the Home Location button to do so if they are at different locations on the map. Your drone will not arm in autonomous mode or land mode. Switch to stabilise mode first before you arm. Immediately after your drone is armed, engage the autonomous mode, and then give a gentle slight push to the throttle to initiate autonomous mode. The drone will take off automatically to the selected altitude and then begin moving to the first and subsequent WPs.
The Speed If you are not confident of your GPS accuracy, set the speed to be less than 3 metre per second. The Landing speed is equally important. The landing speed is the vertical final touch down speed when your drone is about to touch the ground.
To disengage the autonomous mode in the mid flight can be challenging. You would not want to do this if you are new and inexperienced. However, you will still need this when errors occur mid-flight such as the drone moves too slowly, or you realise you have selected a WP that may hit objects, or you did not set your drone to Land at the last WP or at a suitable spot or etc. Do not switch to Land Mode as the drone may fall from the sky!
Push the throttle up above the mid throttle level before you switch to Stabilise mode. Prepare to take control over the throttle to prevent it plummeting from the sky. Fly it to safety before you land your drone. If you have pre-set Loiter mode on your transmitter, engage it to take back control from auto-mode, it is easier to control in Loiter Mode since it includes Altitude Hold. After the path planning is complete, your drone will land at the last WP and the throttle will automatically turn off as soon as it touches the ground.
Disarm your drone by pushing the throttle stick fully to the left at zero throttle position. Make sure that you have done with all the calibration and setup in the previous steps. Make sure also you have set all basic required modes ready on the transmitter and on Mission Planner such as Stablise, Altitude Hold, and Land. Place your quadcopter on a flat ground in a wide open field and then plug in the battery. Wait until the long beeping sound stops. Then arm your quadcopter by pushing the throttle stick at zero throttle position fully to the right.
If this is the first time you arm your quadcopter, you are going to make sure that the directions of your motor rotation are correct. Arm it with your propellers off, and then feel with your finger if the direction of rotation of each motor is correct. Otherwise, interchange any 2 connections bullet connector between the specific ESC and motor.
If your quadcopter cannot arm, connect your drone to the Mission Planner to see what is causing the pre-arm check to trigger. For example, if the compass offset is too high, you need to re-calibrate your magnetometer. Make sure you do this after making sure the faulty components will not result in crashes. After your quadcopter is armed, i. At your desired altitude, switch to Altitude Hold to remain the altitude.
Switch to Loiter mode if you want the drone to stay at the current GPS location while maintaining at the same altitude. Your drone should stay at the last altitude when you switch to these modes. If it falls or descends, you can still push the throttle up to control the flight.
If you do not wish to use the Altitude Hold mode, make sure you are confident at controlling the altitude by constantly pushing the throttle stick up when it descends, and push it back down when it rises, while at the same time controlling the pitch, roll and yaw of your quadcopter.
You are advised to test your pilot skill on a cheaper Chinese drone without Altitude Hold first before you pilot your self-built drone. You can begin moving your drone horizontally after your drone is in the air with suitable amount of ground clearance. Your drone moves by rotating around three-axes:. Rolling to the left and rolling to the right Please refer to the transmitter control diagram. Make sure you always monitor the battery voltage using a BB alarm battery voltage monitor.
Land your quadcopter as soon as the alarm triggers off. If you do not want to use the Land Mode, slowly descend your quadcopter to the ground by controlling the throttle stick up and down. That again, requires a lot of practices to master a perfect landing.
Make sure to try this out on cheaper drones first. A soon as your quadcopter touches the ground, the throttle will turn off automatically. Post-flight analysis tells you everything about your flight ranging from barometer altitude, GPS locations, satellite reception, battery voltage, attitude responses, desired attitude, radio communication, speed, motor current, to 3D images of the flight path and modes.
To load the data flash log from Mission Planner, you should not connect the Mission Planner to your drone through a radio telemetry. The downloaded log files will be stored in your PC. The downloaded binary log files can be loaded to the Mission Planner for analyses without having to connect to the drone.
You will be automatically directed to where the flash logs are stored when you want to review them. Otherwise, they can be found in. Double-click on the selected binary log file to open the flash log. From the flash log, some of the popular and useful parameters in the data flash logs include:. Simply check the box of the parameter you want to analsye on the bottom right panel and the respective graph of that parameter will be generated.
To increase the size of the graph, move your cursor to the double dotted lines and then drag it down to expand the graph. This takes up in turn the space below it. Even easier, use a Snipping tool to crop wherever you want to save or copy.
The link to download Snipping Tool is as follow:. The flight data is useful to find out reasons behind crashes, malfunctionalities, or inability to carry out specific functions. For example, if the quadcopter keeps falling down in the Altitude Hold mode, look at the barometer data to see if the barometer sensing of altitude is working properly.
Together with the downloaded binary log files is the KMZ file of the flight. KMZ files can be opened using the Goggle Earth pro software. Different flight paths are differentiated based on the switch of flight modes as shown on the left panel above. The flight paths can be deselected from the list as shown in the left panel.
Unchecked flight modes will disappear from the 3D map leaving only the checked flight path. From the diagram above, green path is the first lap of auto mode flight path the quadcopter has followed through while the overlapping purple path is the second lap of auto mode. Horizontal distance measurement of the flight path can be done using the ruler tool in the software. APM supports object avoidance in a maximum of 2 directions at most.
This expensive EZ0 sensor is used only for object detection above the quadcopter, to avoid hitting objects when the quadcopter takes off or rises. The connection of the MaxSonar to Navio2 FC is through the analog to digital converter ADC pins, connecting as shown in below, the voltage, ground and analog pin from the FC to the sonar.
To establish physical connection, the micro-header pin for the 6-pin ADC adopted by Navio2 had to be purchased online. The header pins will also fit the other ports so long the number of pins matches. Together this configuration brings about a consistent values of readings from the MaxSonar sensor. Rangefinder orientation is set as 24 for UP orientation and the rangefinder pin is set as 5 with connection to the pin ADC 3 on Navio2 as shown below.
Other required settings in the parameter list required are shown. The real-time sensor data was not shown for all orientations other than down or 25 in the rangefinder tab in initial setup, but was shown in the radius radar initiated from the proximity button in the temps menu initiated by Ctrl-F shortcut key.
Note that the 2-Dimensional radar will not show distance when the orientation is set to up, or down. After making sure that the sonar was working through monitoring from the radar window and testing out the data with different distances, the quadcopter was then safe for flight with obstacle avoidance. The quadcopter is armed and then switched to only either guided or altitude hold mode for object avoidance.
Several limitations are underlined in the existing object avoidance system which is currently still under development by Emlid developers. The limitations include expensive ultrasonic sensors, limitations of the modes in which object avoidance can work, and limitation of the directions against which the object avoidance system can work. As shown above, five inexpensive ultrasonic sensors HC-SR04 were used for object detection in the front, right, rear, left and down direction.
Arduino microcontroller acts as the processor for the receiving sensor data and generate responses accordingly. Arduino Nano was used because of its small size and relatively lighter weight. The Arduino connections with all sensors were sketched and the complete circuit diagram was drawn.
To make way for the object avoidance system a simple modification and an extra component was required so the UART port can be spared. The trick is to exchange the ground and air module where now the ground module was connected through USB port at the FC, and the air module was connected to the GCS.
Connection points required were being precisely and tightly soldered on a copper board. Jumpers were used to ease out connections and female header pins were soldered on place for the installation of ultrasonic sensors in each direction, as shown below.
Again, capacitors and resistors were added to improve consistency of each sensor. For distance measurement, NewPing library was used to retrieve raw sensor data directly in centimetre. To improve overall sensor data consistency, averaged value of 5 sensor readings were taken. It was learnt that sonar outputting zero distance is not uncommon.
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