{{ ::signal-attachment-2019-12-15-162249.resized.jpeg?600 |}}
====== Setup ======

==== SITL computer/Simulated Pixracer (Pi4) ====


	install ardupilot
		https://ardupilot.org/dev/docs/building-setup-linux.html


	install pymavlink
		sudo apt-get install libxml2-dev libxslt1-dev
		pip install pymavlink


	sudo raspi-config
        Interfaces => Serial 
		disable login on serial "NO"
		enable hardware serial "YES"
		Serial (Pi3/Pi4)
			/dev/ttyS0
			8 = TX
			10 = RX

	flight SITL
		Setup SITL
			https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html
			https://ardupilot.org/dev/docs/plane-sitlmavproxy-tutorial.html
		Output SITL telemetry to serial port
			https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#using-real-serial-devices
			https://ardupilot.org/dev/docs/learning-ardupilot-uarts-and-the-console.html
		start simulatiom
		        sim_vehicle.py -w -v ArduPlane -A "--uartC=uart:/dev/ttyS0:9600" --console --map
		        wp load Tools/autotest/CMAC-circuit.txt
		        mode auto
		        arm throttle

==== Companion Computer (Pi Zero / Pi3) ====

	Wireing
		__Serial Data (mavlink)__
			     /--> Pi3 10 (RX)
		Pi4 8 (TX) --
			     \--> Pi Zero 10 (RX)
		__GND__
			/--> Pi3 6
		Pi4 6 --
			\--> Pi Zero 6
		

	sudo raspi-config
        Interfaces => Serial 
		disable login on serial "NO"
		enable hardware serial "YES"
		Serial (Pi3/Pi4)
			/dev/ttyS0
			8 = TX
			10 = RX
		Serial (Pi Zero)
			/dev/ttyAMA0
			8 = TX
			10 = RX

	install pymavlink
		sudo apt-get install libxml2-dev libxslt1-dev
		pip install pymavlink

	Continous camera image triggering code with GPS input via mavlink
		git clone https://gitlab.com/searchwing/development/searchwing-pi
		edit file for serial port (ttyAMA0 @ Pi Zero / ttyS0 @ Pi3)	
		python3 continuous_capture_GPS.py 
	
====== Output ======
Pi4:
<code>
wp load Tools/autotest/CMAC-circuit.txt
MANUAL> Loaded 8 waypoints from Tools/autotest/CMAC-circuit.txt
...
APM: Flight plan received
Got MAVLink msg: MISSION_ACK {target_system : 255, target_component : 0, type : 0, mission_type : 0}
wp load m
MANUAL> Unknown command 'm'
mode auto
MANUAL> APM: Mission: 1 Takeoff
Got MAVLink msg: COMMAND_ACK {command : 11, result : 0}
AUTO> Mode AUTO
waypoint 1
arm throttle
AUTO> APM: Throttle armed
Got MAVLink msg: COMMAND_ACK {command : 400, result : 0}
APM: Armed AUTO, xaccel = -0.0 m/s/s, waiting 0.2 sec
APM: Triggered AUTO. GPS speed = 0.0
ARMED
APM: Holding course 35279 at 19.3m/s (0.1)
height 10
height 20
APM: Takeoff level-off starting at 16m
height 30
APM: Takeoff complete at 41.41m
APM: Mission: 2 WP
height 40
400
waypoint 2
200
height 50
height 60
height 70
height 80
height 100
Flight battery 90 percent
height 110
APM: Reached waypoint #2 dist 57m
APM: Mission: 3 WP
...
</code>

Pi Zero:
<code>
INFO:root:2019-12-15T15:04:13.362813.jpg captured (lon:149.1645948 , lat:-35.3649894)
DEBUG:root:pixhawk GPS msg:(lon:149.1645419 , lat:-35.3647957)
DEBUG:root:pixhawk GPS msg:(lon:149.1644866 , lat:-35.3646023)
DEBUG:root:pixhawk GPS msg:(lon:149.1644332 , lat:-35.3644077)
INFO:root:2019-12-15T15:04:16.374349.jpg captured (lon:149.1644332 , lat:-35.3644077)
DEBUG:root:pixhawk GPS msg:(lon:149.1643844 , lat:-35.3642113)
DEBUG:root:pixhawk GPS msg:(lon:149.1643412 , lat:-35.3640153)
DEBUG:root:pixhawk GPS msg:(lon:149.1643034 , lat:-35.3638182)
INFO:root:2019-12-15T15:04:19.378186.jpg captured (lon:149.1643034 , lat:-35.3638182)
DEBUG:root:pixhawk GPS msg:(lon:149.1642704 , lat:-35.3636195)
DEBUG:root:pixhawk GPS msg:(lon:149.1642417 , lat:-35.3634208)
DEBUG:root:pixhawk GPS msg:(lon:149.1642162 , lat:-35.3632233)
</code>
Pi3:
<code> 
INFO:root:2019-12-15T15:04:13.611948.jpg captured (lon:149.1644866 , lat:-35.3646023)
DEBUG:root:pixhawk GPS msg:(lon:149.1644332 , lat:-35.3644077)
DEBUG:root:pixhawk GPS msg:(lon:149.1643844 , lat:-35.3642113)
DEBUG:root:pixhawk GPS msg:(lon:149.1643412 , lat:-35.3640153)
INFO:root:2019-12-15T15:04:16.631539.jpg captured (lon:149.1643412 , lat:-35.3640153)
DEBUG:root:pixhawk GPS msg:(lon:149.1643034 , lat:-35.3638182)
DEBUG:root:pixhawk GPS msg:(lon:149.1642704 , lat:-35.3636195)
DEBUG:root:pixhawk GPS msg:(lon:149.1642417 , lat:-35.3634208)
INFO:root:2019-12-15T15:04:19.648091.jpg captured (lon:149.1642417 , lat:-35.3634208)
DEBUG:root:pixhawk GPS msg:(lon:149.1642162 , lat:-35.3632233)
DEBUG:root:pixhawk GPS msg:(lon:149.1641924 , lat:-35.3630252)
</code>

====== Result ======
  * Splitting of TX from pixracer to two pi zeros works 
  * Disconnection of data connection and reconnection is working
  * Synchronized image recording is possible