OBAL - A Simple Linux-based Raspberry-Pi Ardupilot FCB

cosiup12 · July 9, 2023, 2:12pm

Sorry for long time no update. I would like to start the discussion again, hope you can help me

I did step by step as instructed. and when i run the command :

sudo /home/pi/ardupilot/build/obal/bin/arduplane -A udp:192.168.137.1:14550

i get this error :

I try running i2c test “i2cdetect -y 1” and get this

Is there any way to fix this error?

This is the circuit board that i followed the instructions

MHefny · July 10, 2023, 8:50am

Please make sure you are running the correct firmware. Download master from github and compile it.

cosiup12 · July 10, 2023, 11:45am

I download the latest firmware version “Plane/stable-4.3.7/obal”

When running this command: “sudo /home/pi/arduplane1 -A udp:192.168.137.1:14550”
I got this message

However Raspberry pi can connect to Mission Planner

When I change the command line, the screen display is different “sudo /home/pi/arduplane1 -C udp:192.168.137.1:14550”

but now Mission Planner is not connecting to Raspberry pi

Did I enter the wrong command line?

Raspberry Pi is running the Raspbian buster operating system

MHefny · July 10, 2023, 11:56am

please try master

cosiup12 · July 10, 2023, 12:04pm

Sorry about my stupidity, i restarted my laptop and ran the command again “sudo /home/pi/arduplane1 -C udp:192.168.137.1:14550”

I noticed Mission Planner found the Raspberry Pi and got the Obal board

Is this a sign of success?

MHefny · July 12, 2023, 6:18pm

I am happy it worked with you.
kindly share with me the seller of the sensor as O have problems with some people now in getting non-fake sensors.

Thanks

julled · March 18, 2024, 4:33pm

@MHefny i was wondering why you decided to NOT use the Hardware PWM units on the raspberry for PWM creation, but instead create the PWM with a external chip?
There are 4 available on two row pinheader, which would fit quite well for a Quadcopter usecase: PWM at Raspberry Pi GPIO Pinout
There are more available if one plans to build a custom CM4 board.

UPDATE: its actually only 2 PWMs signals but on 4 pins.

MHefny · March 19, 2024, 7:03am

Hi,
This scenario may fits but only for quadcopter, and may affect the ability to run ardupilot app itself because of handling this pwm.
my latest solution which is much better is https://medium.com/@mohammad.hefny/ardupilot-linux-based-system-stm32-as-a-breakout-module-part-2-5db4ce7cfe3e which uses a complete co-microprocessor to generate PWM and other ESC signals. It also enables using other boards rather than RPI, maybe Mango -I hope-.

julled · March 19, 2024, 1:24pm

Wow! Thanks for your work on this, this looks promising!

Why did you decide against using AP_IOMCU but instead used betaflight?

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_IOMCU/AP_IOMCU.cpp

/*
  implement protocol for controlling an IO microcontroller

  For bootstrapping this will initially implement the px4io protocol,
  but will later move to an ArduPilot specific protocol
 */

#include "AP_IOMCU.h"

#if HAL_WITH_IO_MCU

#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_ROMFS/AP_ROMFS.h>
#include <SRV_Channel/SRV_Channel.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>

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MHefny · March 19, 2024, 1:54pm

My solution is not final yet. It happened to be betaflight, but nothing is final yet.
Also I am not using the flight control system. I am selecting some libraries and building some.
Glad that you liked it.