clever/rc: Allow disabling GCS thread (#197)

* clever/rc: Allow disabling GCS thread

Currently spawning GCS thread results in ROS TCP errors. This patch allows a user to turn off this thread if it's not required.

The thread is turned off by default, since it's not required for our PX4 firmware.

* clever/rc: Code style

builder/assets/rsyslog.conf

@@ -45,12 +45,6 @@ $Umask 0022
 #
 $WorkDirectory /var/spool/rsyslog
 
-#
-# Limit log to 40 messages per second on average (should be plenty)
-#
-$SystemLogRateLimitInterval 5
-$SystemLogRateLimitBurst 200
-
 #
 # Include all config files in /etc/rsyslog.d/
 #

builder/image-network.sh

@@ -42,7 +42,7 @@ network={
     ssid="CLEVER"
     psk="cleverwifi"
     mode=2
-    proto=RSN
+    proto=WPA RSN
     key_mgmt=WPA-PSK
     pairwise=CCMP
     group=CCMP

builder/image-software.sh

@@ -112,6 +112,7 @@ python-dev \
 python3-dev \
 python-systemd \
 mjpg-streamer \
+python3-opencv \
 && echo_stamp "Everything was installed!" "SUCCESS" \
 || (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 

builder/image-validate.sh

@@ -24,6 +24,7 @@ source /home/pi/catkin_ws/devel/setup.bash
 cd /home/pi/catkin_ws/src/clever/builder/test/
 ./tests.sh
 ./tests.py
+./tests_py3.py
 
 echo "Move /etc/ld.so.preload back to its original position"
 mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/test/tests_py3.py

@@ -0,0 +1,7 @@
+#!/usr/bin/env python3
+
+# Make sure our Python 3 software is installed
+
+import cv2
+
+print(cv2.getBuildInformation())

clever/launch/clever.launch

@@ -71,5 +71,8 @@
     <include file="$(find clever)/launch/led.launch" if="$(arg led)"/>
 
     <!-- rc backend -->
-    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
+    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)" clear_params="true">
+        <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->
+        <param name="use_fake_gcs" value="false"/>
+    </node>
 </launch>

clever/launch/main_camera.launch

@@ -18,6 +18,7 @@
 
     <!-- camera node -->
     <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
+        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
 

clever/src/rc.cpp

@@ -34,12 +34,15 @@ public:
 		nh(),
 		nh_priv("~")
 	{
+		bool use_fake_gcs = nh_priv.param("use_fake_gcs", true);
 		// Create socket thread
 		std::thread t(&RC::socketThread, this);
 		t.detach();
 
-		std::thread gcst(&RC::fakeGCSThread, this);
-		gcst.detach();
+		if (use_fake_gcs) {
+			std::thread gcst(&RC::fakeGCSThread, this);
+			gcst.detach();
+		}
 
 		initLatchedState();
 	}

docs/en/aruco_map.md

@@ -10,7 +10,7 @@
 
 ## Configuration
 
-Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true`:
+Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/clever.launch` to `true`:
 
 ```xml
 <arg name="aruco" default="true"/>

docs/en/aruco_marker.md

@@ -10,7 +10,7 @@ Using this module along with [map-based navigation](aruco_map.md) is also possib
 
 ## Setup
 
-Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/aruco.launch` to `true`:
+Set the `aruco` argument in `~/catkin_ws/src/clever/clever/launch/clever.launch` to `true`:
 
 ```xml
 <arg name="aruco" default="true"/>

docs/en/assemble_4.md

@@ -279,6 +279,9 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit
 
 1. Prepare the laser rangefinder by soldering leads to it.
 2. Use four 2x5 self-tapping screws to secure the camera.
+
+    > **Warning** Make sure the screws don't touch any components on the camera PCB! Otherwise the camera may not function properly.
+
 3. Mount the laser rangefinder on the lower deck using two M3x8 screws and steel nuts.
 
     <div class="image-group">

docs/en/selfcheck.md

@@ -23,7 +23,7 @@ Description of some checks:
 * ArUco — checks whether [ArUco](aruco.md) detection is working
 * VPE — checks whether VPE data is published.
 * Rangefinder — checks whether [rangefinder](laser.md) data is published.
-* RPi health – checks the [onboard computer](raspberrypi.md) status.
+* RPi health – checks the [onboard computer](raspberry.md) status.
 * CPU usage – checks the CPU load of the onboard computer.
 
 > **Caution** Pay attention on the checks marked with *WARN* sign. If necessary, contact [Copter Express technical support](tg://resolve?domain=COEXHelpdesk).

docs/ru/assemble_4.md

@@ -279,6 +279,9 @@
 
 1. Подготовьте лазерный дальномер к монтажу, предварительно напаяв на него контакты.
 2. Установите камеру на 4 самореза 2х5.
+
+    > **Warning** Убедитесь, что саморезы не касаются деталей на печатной плате камеры. В противном случае камера может не заработать.
+
 3. Установить на деку лазерный дальномер с помощью 2 винтов М3х8 и стальных гаек.
 
     <div class="image-group">

docs/ru/selfcheck.md

@@ -21,7 +21,7 @@ rosrun clever selfcheck.py
 * ArUco – проверка работы [распознавания ArUco-маркеров](aruco.md).
 * VPE – проверка правильности работы VPE.
 * Rangefinder – проверка работы [дальномера](laser.md).
-* RPi health – проверка состояния [бортового компьютера](raspberrypi.md).
+* RPi health – проверка состояния [бортового компьютера](raspberry.md).
 * CPU usage – проверка загруженности процессора бортового компьютера.
 
 > **Caution** Обращайте пристальное внимание на предупреждения, отмеченные строкой *WARN*. При необходимости, обращайтесь в [Техподдержку Copter Express](tg://resolve?domain=COEXHelpdesk).