Change image size to from 8G to 7G

Signed-off-by: Artem Smirnov <urpylka@gmail.com>

clever/src/simple_offboard.py

@@ -383,7 +383,10 @@ def get_telemetry(req):
         res['vx'] = linear.vector.x
         res['vy'] = linear.vector.y
         res['vz'] = linear.vector.z
-        # TODO pitch_rate, roll_rate, yaw_rate
+
+        res['yaw_rate'] = velocity.twist.angular.z
+        res['pitch_rate'] = velocity.twist.angular.y
+        res['roll_rate'] = velocity.twist.angular.x
 
     if global_position and stamp - global_position.header.stamp < rospy.Duration(5):
         res['lat'] = global_position.latitude

image_builder/build.Jenkinsfile

@@ -24,7 +24,7 @@ pipeline {
     }
     stage('Resize FS') {
       environment {
-        SIZE = '8G'
+        SIZE = '7G'
       }
       steps {
         sh "$WORKSPACE/image_builder/image_config.sh resize_fs $SIZE ${params.BUILD_DIR} ${params.IMAGE_NAME}"

image_builder/image_config.sh

@@ -334,19 +334,26 @@ publish_image() {
   local IMAGE_LINK=$($3 $4 $1/$2.zip)
   echo -e "\033[0;31m\033[1m$(date) | Upload copmlete!\033[0m\033[0m"
 
-
   echo -e "\033[0;31m\033[1m$(date) | Meashure size of zip-image\033[0m\033[0m"
   local IMAGE_SIZE=$(du -sh $1/$2.zip | awk '{ print $1 }')
   echo -e "\033[0;31m\033[1m$(date) | Meashuring copmlete!\033[0m\033[0m"
+
+  echo -e "\033[0;31m\033[1m$(date) | Meashure hash-sum of zip-image\033[0m\033[0m"
+  local IMAGE_HASH=$(sha256sum $1/$2.zip | awk '{ print $1 }')
+  echo -e "\033[0;31m\033[1m$(date) | Meashuring copmlete!\033[0m\033[0m"
+
   echo ""
   echo "\$6: $6"
   echo ""
+
   echo -e "\033[0;31m\033[1m$(date) | Post message to GH\033[0m\033[0m"
-  local NEW_RELEASE_BODY="### Download\n* [$2.zip]($IMAGE_LINK) ($IMAGE_SIZE)\n\n$6"
+  local NEW_RELEASE_BODY="### Download\n* [$2.zip]($IMAGE_LINK) ($IMAGE_SIZE)\nsha256: $IMAGE_HASH\n\n$6"
   local DATA="{ \"body\":\"$NEW_RELEASE_BODY\" }"
+
   echo ""
   echo "\$DATA: $DATA"
   echo ""
+
   local GH_LOGIN=$(cat $4 | jq '.github.login' -r)
   local GH_PASS=$(cat $4 | jq '.github.password' -r)
   local GH_URL=$(cat $4 | jq '.github.url' -r)

image_builder/scripts/hardware_setup.sh

@@ -18,7 +18,7 @@ touch /boot/ssh
 # /usr/bin/raspi-config nonint do_ssh 0
 
 # 2. Enable GPIO
-echo -e "\033[0;31m\033[1m$(date) | #2 SSHd enabled by default\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #2 GPIO enabled by default\033[0m\033[0m"
 
 # 3. Enable I2C
 echo -e "\033[0;31m\033[1m$(date) | #3 Turn on I2C\033[0m\033[0m"
@@ -32,11 +32,22 @@ echo -e "\033[0;31m\033[1m$(date) | #4 Turn on SPI\033[0m\033[0m"
 echo -e "\033[0;31m\033[1m$(date) | #5 Turn on raspicam\033[0m\033[0m"
 /usr/bin/raspi-config nonint do_camera 0
 
-# 6. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
+# 6. Enable hardware UART
+echo -e "\033[0;31m\033[1m$(date) | #6 Turn on UART\033[0m\033[0m"
+# Temporary solution
+# https://github.com/RPi-Distro/raspi-config/pull/75
+/usr/bin/raspi-config nonint do_serial 1
+/usr/bin/raspi-config nonint set_config_var enable_uart 1 /boot/config.txt
+
+# After adding to Raspbian OS
+# https://github.com/RPi-Distro/raspi-config/commit/d6d9ecc0d9cbe4aaa9744ae733b9cb239e79c116
+#/usr/bin/raspi-config nonint do_serial 2
+
+# 7. Enable V4L driver http://robocraft.ru/blog/electronics/3158.html
 #echo "bcm2835-v4l2" >> /etc/modules
-echo -e "\033[0;31m\033[1m$(date) | #6 Turn on v4l2 driver\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #7 Turn on v4l2 driver\033[0m\033[0m"
-if ! grep -q "^bcm2835-v4l2" /etc/modules; then
+if ! grep -q "^bcm2835-v4l2" /etc/modules;
-  printf "bcm2835-v4l2\n" >> /etc/modules
+then printf "bcm2835-v4l2\n" >> /etc/modules
 fi
 
 echo -e "\033[0;31m\033[1m$(date) | End of configure hardware interfaces\033[0m\033[0m"