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61 lines
1.7 KiB
Markdown
61 lines
1.7 KiB
Markdown
Connecting Pixhawk/Pixracer to Raspberry Pi
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===
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To program [autonomous flights](simple_offboard.md) [work with Pixhawk (Pixracer) over Wi-Fi](gcs_bridge.md), use [of a phone transmitter] (rc.md), and other functions, it is necessary to connect Raspberry Pi to Pixhawk (Pixracer).
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Check operability of the connection [by running on Raspberry Pi](ssh.md):
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```bash
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rostopic echo /mavros/state
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```
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The `connected` field should contain value `True`.
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Connection via USB
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---
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Connect Pixhawk/Pixracer to micro USB in Raspberry Pi with a USB cable.
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Make sure that in Clever launch file (`~/catkin_ws/src/clever/clever/launch/clever.launch`), connection type is set to USB:
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```xml
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<arg name="fcu_conn" default="usb"/>
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```
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After the launch file is edited, restart package `clever`:
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```bash
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sudo systemctl restart clever
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```
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> **Hint** For correct operation of the Raspberry Pi connection to Pixhawk via USB, set value of [parameter](px4_parameters.md) `CBRK_USB_CHK` to 197848.
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Connection via UART
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---
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TODO connection diagram
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Make sure that in Clever launch file (`~/catkin_ws/src/clever/clever/clever.launch`), connection type is set to UART:
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```xml
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<arg name="fcu_conn" default="uart"/>
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```
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After the launch-file is edited, restart package `clever`:
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```bash
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sudo systemctl restart clever
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```
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> **Hint** For correct operation of the Raspberry Pi connection to Pixhawk via UART, set value of parameter`SYS_COMPANION` to 921600.
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Connection to SITL
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---
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To connect locally/remotely to a running [SITL](sitl.md), set argument `fcu_conn` to `udp`, and `fcu_ip` to the IP address of the machine where SITL is running (`127.0.0.1` for local):
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```xml
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<arg name="fcu_conn" default="udp"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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```
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