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misc:hacks:rasberrypi [2013-08-13 05:29] absoloodle37 |
misc:hacks:rasberrypi [2015-02-20 15:31] macke Page moved from projects:crazyflie:hacks:rasberrypi to misc:hacks:rasberrypi |
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- | ====== Using the Raspberry Pi as a base station for flying ====== | ||
- | You should setup the CF Headless client (see [[# | ||
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- | For the following installation instructions it is assumed that you are running the popular [[http:// | ||
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- | ===== Setup the Crazyradio dongle ===== | ||
- | |||
- | In order for the client to be able to access the dongle, you'll have to setup [[projects: | ||
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- | ===== Install the headless client ===== | ||
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- | Execute the following commands as your user of choice (for example the default user '' | ||
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- | cd | ||
- | sudo apt-get install mercurial python2.7 python-usb python-pygame python-qt4 | ||
- | hg clone https:// | ||
- | cd crazyflie-pc-client | ||
- | hg up dev-headless | ||
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- | This installs the necessary dependencies for running the client, checks out the current development version from BitBucket and then switches to the branch containing the headless client. | ||
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- | If you are using an XBox Controller w/ Wireless Gaming Receiver, you might need to also install the userspace driver: | ||
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- | sudo apt-get install xboxdrv | ||
- | | ||
- | and start it: '' | ||
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- | Plugin your Crazyradio and your controller, power up the Crazyflie and start the client (via SSH and Ethernet or by using an USB hub to connect Crazyradio, controller and keyboard)((If you get an error message that '' | ||
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- | python ~/ | ||
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- | The client should start up, hopefully find your Crazyradio dongle, your Crazyflie and your controller and start accepting commands: | ||
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- | < | ||
- | pi@raspberrypi ~ $ ~/ | ||
- | Info: Using config path: / | ||
- | Info: sys.path= ['/ | ||
- | Disabling standard output for libraries! | ||
- | INFO: | ||
- | INFO: | ||
- | INFO: | ||
- | INFO: | ||
- | INFO: | ||
- | INFO: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | INFO: | ||
- | INFO: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | Found [Xbox Gamepad (userspace driver)] | ||
- | Will use [Xbox Gamepad (userspace driver)] for input | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | WARNING: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | WARNING: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | WARNING: | ||
- | INFO: | ||
- | ERROR: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | INFO: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | INFO: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | INFO: | ||
- | DEBUG: | ||
- | DEBUG: | ||
- | INFO: | ||
- | INFO: | ||
- | </ | ||
- | |||
- | ===== Manually Customizing Your .json Configuration File ===== | ||
- | If you created a customized .json file for your xbox controller using a Windows PC and the cfclient GUI and are planning to copy it over to your Raspberry Pi, here is some advice: | ||
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- | -save the new .json file as something different than the default, so you can recognize it easily. | ||
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- | -the new .json file is not located in the Program Files(x64)/ | ||
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- | -copy your new .json file into the correct RPi folder: / | ||
- | |||
- | < | ||
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- | Verify netatalk was installed successfully on your RPi by checking the Finder window on your Mac for a " | ||
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- | -the cfheadless client on RPi may not recognize the same controller channel " | ||
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- | Xbox Controller Input = id# | ||
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- | Left stick vertical = 1 | ||
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- | Left stick horizontal = 0 | ||
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- | Right stick vertical = 3 | ||
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- | Right stick horizontal = 2 | ||
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- | Right trigger = 4 | ||
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- | Customize your flying configuration anyway you like using the inputs/ | ||
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- | **Note**: If you have more than one controller attached, you can select the one to use using the commandline parameter '' | ||
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- | < | ||
- | usage: cfheadless [-h] [-u URI] [-i INPUT] [-d] [-c CONTROLLER] | ||
- | [--controllers] | ||
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- | optional arguments: | ||
- | -h, --help | ||
- | -u URI, --uri URI URI to use for connection to the Crazyradio dongle, | ||
- | defaults to radio:// | ||
- | -i INPUT, --input INPUT | ||
- | Input mapping to use for the controller, defaults to | ||
- | PS3_Mode_1 | ||
- | -d, --debug | ||
- | -c CONTROLLER, --controller CONTROLLER | ||
- | Use controller with specified id, id defaults to 0 | ||
- | --controllers | ||
- | </ | ||
- | |||
- | **Note**: If you still have an old version of the headless client you'll need to manually change the URI of your Crazyradio from the default 1M to 250K (make sure the K is uppercase). If you want to use a custom configuration (other than '' | ||
- | |||
- | <code python> | ||
- | app = HeadlessClient(sys.argv, | ||
- | | ||
- | </ | ||
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- | You can then startup the client without any command line arguments and it should hopefully work as well: '' | ||
- | ===== Current state of the headless client ===== | ||
- | |||
- | [[http:// | ||
- | * < | ||
- | * < | ||
- | * < | ||
- | * < | ||
- | * < | ||
- | ===== Make the client startup automatically on Crazyradio plug in ===== | ||
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- | Starting (and killing) the client automatically upon Crazyradio insertion/ | ||
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- | Adjust your Crazyradio udev rule (e.g. ''/ | ||
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- | < | ||
- | SUBSYSTEM==" | ||
- | </ | ||
- | |||
- | and (as root) you will create a file ''/ | ||
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- | <code bash> | ||
- | #!/bin/sh | ||
- | if test " | ||
- | then | ||
- | / | ||
- | echo $! > / | ||
- | else | ||
- | killall -9 cfheadless | ||
- | if test -f / | ||
- | then | ||
- | PID=`cat / | ||
- | kill -9 $PID | ||
- | fi | ||
- | fi | ||
- | </ | ||
- | |||
- | You can only create the cfheadless file above in the /root/bin/ folder by being root--not pi or any other user name. Switch to root: '' | ||
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- | For the XBox360 Controller (after an " | ||
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- | Create a udev file ''/ | ||
- | <code bash> | ||
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- | and (as root) create a file ''/ | ||
- | <code bash># | ||
- | if test " | ||
- | then | ||
- | / | ||
- | else | ||
- | killall -9 xboxdrv | ||
- | fi</ | ||
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- | Don't forget to make your files executable after you've created them: '' | ||
- | |||
- | <code bash> | ||
- | </ | ||
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- | The -h halts all processes, the -r is the command to reboot after shutdown. | ||
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- | This should now take care to startup the headless client when you plug in the dongle and (hopefully ;-)) kill it again when you unplug. If you need any additional setup to get your controller working, you can add a similar udev-rule for that to take care of everything upon plugging in the controller as well. | ||
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- | :!: **Important** :!: Due to the current state of the client, you **must** make sure to first connect your controller and power up the Crazyflie before connecting the Crazyradio dongle and thus starting the client. If the client can't find either controller or Crazyflie, it will just hang and you'll have to re-plug the dongle again. | ||
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- | **Troubleshooting** | ||
- | If it still doesn' | ||
- | * / | ||
- | * / | ||
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- | Also, if xboxdrv can't be run without the sudo command, or there are other permissions issues with the xbox wireless usb controller, try adding the the xbox360 wireless receiver to a group you created that has root privileges, like ' | ||
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- | <code bash> | ||
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- | Also, if running the xboxdrv command from a terminal window gives you the following error: | ||
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- | <code bash> | ||
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- | ...your controller may very well have already started automatically per the udev rule you created above and could be working correctly and currently is in use. Make sure your wireless xbox controller is powered on and connected (green arc showing), turn on your crazyflie and then plug in your crazyradio. | ||
- | |||
- | ===== Make your base station portable ===== | ||
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- | If you want to you can make your base station completely portable simply by using a portable USB power supply (e.g. the Anker3 10.000mAh) for powering the Pi. Putting everything into some case and attaching it somewhere on yourself (e.g. your belt) makes you completely mobile while piloting your Crazyflie :-) | ||
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- | {{https:// | ||
- | {{https:// |