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Software that runs on the Raspberry Pi in the field. Acts as a LoRa tranceiver and MAVLink protocol handler. Must accept and relay MAVLink commands from APM Planner / QGcontrol.

Python 91.50% Shell 8.50%

octanis1-field-station's Introduction

Octanis1-Field-Station

Software that runs on the Raspberry Pi in the field. Acts as a LoRa tranceiver and MAVLink protocol handler. Must accept and relay MAVLink commands from APM Planner / QGcontrol.

Software running on the field station but not in this repository.

UDP <-> MQTT bridge

The goal of the bridge

The goal of this script is to receive MQTT messages from 'A' and to transform them into UDP messages that are sent to 'B' and to receive UDP messages from 'B' and to transform them into MQTT that are sent to 'A'.

Configuration of the bridge

At the beginning of the Python scripts, you can change the IP and the port of the differents actors.

Test the bridge

To test the bridge, you can use the scripts send_mqtt.sh and send_udp.sh. You just need to change the parameters at the begin of each script. To listen : mosquitto_sub -t topic -q 1 and nc -l -u -p 43000

status_reporter script

Sends RADIO_STATUS message to the UDP endpoint (APM Planner) which includes last RSSI from TX MQTT topic. It also sends a HEARTBEAT with sysid 24.

Halt button script

Listens to a rising edge on GPIO pin 16 (hardware pin, not BCM) and halts the operating system if risen.

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octanis1-field-station's Issues

Design Case and power supply for the Field station

Content:

RaspberryPi
Battery + Power system
LoRa gateway
u-blox M8P eval kit

Connections to the outside:

Ethernet port of RaspberryPi.
PV module connector
Power adapter connector for manual battery charger

Antennas:

dGPS
LoRa
UHF module for dGPS

Use our EPS (https://github.com/Octanis1/Octanis1-Electronics/tree/master/octanis_eps/v1.0) to supply required voltages and charge batteries with 2 possible inputs: Solar cells or 5V / 9V power adapter (slight modification needed to switch between the two modes --> Maximum power tracking MPP to be adapted)

Other requirements:

Good thermal insulation
Weather-proof
Wind proof (possibility to attach to ground)

Update documentation here: http://wiki.octanis.org/orb/mom#base_stations with complete system drawing and photo

Test APM Planner sending to Rover via LoRa

Create a UDP to MQTT bridge

This bridge receives UDP packets from APM Planner containing MAVLink payloads and sends them out to the MQTT server. It must also listen to incoming MQTT packets and relay these to the same UDP endpoint.

Field Station monit configuration to run python scripts

Install brocaar's loraserver and lora-gateway-bridge

Must be able to receive and send LoRa packets. Integrate this with the previously implemented message buffer that is able to communicate with APM planner.

Connect dGPS to USB2Ethernet adapter verify if RTCM3 still correctly received by rover (because now additional UBX+NMEA arrive on radio)

Install and configure LoRa concentrator driver & semtech packet forwarder

Install and configure the LoRa base station driver on the RaspberryPi for our IMST iC880A.

HAL for LoRa concentrator: https://github.com/ttn-zh/lora_gateway

Packet forwarding software. Converts LoRa packets to UDP for UDP server to receive (down and upstream packets work): https://github.com/TheThingsNetwork/packet_forwarder/tree/master/poly_pkt_fwd

configure dGPS base station module

Read datasheet, implement recommended configration using u-center.

Minimum observation time is important and tests must be conducted to verify that a short MOT (<0.5h) will give good precision.

On the RaspberryPi, write script that listens to APM Planner and buffers those incoming messages

Commands and other (MAVlink) messages that originate from an operator's laptop running APM planner, connected via ethernet to the RaspberryPi, have to be buffered and relayed to the LoRa base station. The LoRa base station can only relay messages to the rover just after it received something from the rover. At that instant of time, every logged command, status update and other message in a buffer must be released and forwarded to the rover.
Messages coming from the rover must be forwarded via ethernet to the APM planner. If the rover is silent, the APM planner must be supplied with an "empty" heartbeat message if required.

System description: http://wiki.octanis.org/orb/mom#base_stations

This issue is completed after implementing a buffer that only tranmits messages to the rover after receiving something.

correct UDP_MQTT to introspect the MAVLink message

currently the UDP data is directly forwarded to MQTT. to save air time, it is required to introspect the UDP buffer, detect a MAVLink frame and forward it to MQTT.

Enable and test static hold on rover gps module

"Static Hold Mode allows the navigation algorithms to decrease the noise in the position output when the velocity is below a pre-defined 'Static Hold Threshold'. This reduces the position wander caused by environmental factors such as multi-path and improves position accuracy especially in stationary applications. By default, static hold mode is disabled.
If the speed drops below the defined 'Static Hold Threshold, the Static Hold Mode will be activated. Once Static Hold Mode has been entered, the position output is kept static and the velocity is set to zero until there is evidence of movement again. Such evidence can be velocity, acceleration, changes of the valid flag (e.g. position accuracy estimate exceeding the Position Accuracy Mask, see also section Navigation Output Filters), position displacement, etc.
The UBX-CFG-NAV5 message additionally allows for configuration of distance threshold (field staticHoldMaxDist). If the estimated position is farther away from the static hold position than this threshold, static mode will be quit."