Arducopter + Raspberry Pi - what's the best way? - ArduCopter User Group

Hi! I have a small question about best way to control (get telemetry and send wp & routes) Arducopter using Raspberry Pi.

I have Raspberry Pi B and Arducopter onboard on my quadcopter linked by usb-cable.

I did read those topics

http://diydrones.com/forum/topics/need-help-for-serial-comunication?id=705844%3ATopic%3A1038239&page=1#comments

http://diydrones.com/forum/topics/raspberry-pi-mavlink-communication-via-usb-port-apm-2-5?xg_source=activity&id=705844%3ATopic%3A1135228&page=1#comments

and I've started to use this fork of roscopter project - https://github.com/epsilonorion/roscopter/wiki

I successfully got telemetry from APM to ROS-topics but as I understand roscopter can't be used for navigation right now - it's still under development.

So I'm trying to find best way how to send waypoints and routes to Arducopter. I don't want to reinvent the wheel and write tons of code for own MAVlink implementation.. Jason Short wrote somewhere here about code written on python using for Mission Planner unit-testing but can't find where is this repository.

For sure this is another way to run APM Planner or Mission Planner on Raspberry and try to use internal python-scripting but I think this way is little bit crappy ;)

Thanks a lot in advance for answers and solutions!

Replies

Talha A. May 7, 2014 at 3:25am

I am trying to do a similar project and have spent many hours and got to roscopter. If there is an easier way or a way to send navigation commands I would like to know.
Thank you Dimitri for bringing this up.
- Dmitry Loki > Talha A. May 7, 2014 at 7:36am
  
  Hi, what about results? As I see here https://github.com/epsilonorion/roscopter/wiki/Exploring-Waypoint-C... - it's just exploring without any success yet..
  
  I think the best way is to find that framework for Mission Planner testing and just rewrite it little bit.. Or I'm wrong?
  
  epsilonorion/roscopter
  
  ROS to Ardupilot Mega communication. Contribute to epsilonorion/roscopter development by creating an account on GitHub.
Developer

Randy May 7, 2014 at 12:53am

I put this wiki page up on the dev wiki which talks about running mavlink on the RaspberryPi. It can send various commands to the Pixhawk (or APM2 I guess although there's no connection diagram on the page for that.)
- Dmitry Loki > Randy May 7, 2014 at 7:28am
  
  thanks for info, Randy!
  
  few questions:
  
  1) there is phrase on the first screenshot "no script loaded" - does it mean that I can run this scripts (same as for Mission Planner) - http://copter.ardupilot.com/wiki/common-using-python-scripts-in-mis... or not?
  
  2) did you try to send navigation command to copter via mavlink? Here is few info about that - http://qgroundcontrol.org/mavlink/mission_interface#mavlink_mission... but not so usefull... =(

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