BlueROV-6: Quick Start of Dronekit and Connect Dronekit to the Vehicle
sudo pip install dronekit or sudo -H pip install dronekit
sudo pip install dronekit-sitl or sudo -H pip install dronekit-sitl
Connect other laptop using the local IP or global IP:
Useifconfig to check the IP address of a laptop.
[email protected]:~ $ ifconfig
eth0 Link encap:Ethernet HWaddr b8:27:eb:08:0d:f7
inet6 addr:fe80::35f6:db2c:a9b8:94d8/64 Scope:Link
UP BROADCASTMULTICAST MTU:1500 Metric:1
RX packets:0errors:0 dropped:0 overruns:0 frame:0
TX packets:0errors:0 dropped:0 overruns:0 carrier:0
collisions:0txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
lo Link encap:LocalLoopback
inetaddr:127.0.0.1 Mask:255.0.0.0
inet6 addr:::1/128 Scope:Host
UP LOOPBACKRUNNING MTU:65536 Metric:1
RX packets:1551errors:0 dropped:0 overruns:0 frame:0
TX packets:1551errors:0 dropped:0 overruns:0 carrier:0
collisions:0txqueuelen:1
RX bytes:297300(290.3 KiB) TX bytes:297300 (290.3 KiB)
wlan0 Link encap:Ethernet HWaddrb8:27:eb:5d:58:a2
inetaddr:172.17.5.27 Bcast:172.17.255.255 Mask:255.255.0.0
inet6 addr:fe80::efcb:6379:52e3:aa35/64 Scope:Link
UP BROADCASTRUNNING MULTICAST MTU:1500 Metric:1
RX packets:5726999errors:0 dropped:137854 overruns:0 frame:0
TX packets:156162errors:0 dropped:0 overruns:0 carrier:0
collisions:0txqueuelen:1000
RX bytes:2064163155 (1.9 GiB) TX bytes:18002083 (17.1 MiB)
- In another laptop, use a software to rename the IP address, like BlueROV.(Optional)
- ping 172.17.5.27
(Toconnect and receive response)
(Tologin in)
Typein the password(raspberry). Then it works.
- sudo adduser k845002185
(Toadd my own user)
Connect Dronekit to the vehicle:
from dronekit import connect
# Connect to the Vehicle (in this case a UDPendpoint)
vehicle = connect('/dev/tty.usbmodem1',wait_ready=True)
Differentsystems have different ways to connect:
http://python.dronekit.io/guide/connecting_vehicle.html
ForMac USB connection: the example is "dev/cu.usbmodem1", but whatactually it is?
Check in the terminal: the current path is/Users/apple, repeat thecommandls /dev when the laptop is disconnected and connected to the pixhawk, andsee what file appears when they areconnected. In this laptop the file is tty.usbmodem1.
Read the Dronekit examples and understand the relationship between Dronekit, Mavlink and Ardusub.
I solve the connection problem by changing to another micro-USB line.
I also find that the battery has no power left at all(the program results show that voltage = 0 and current = 0), so it cannot drive motors.
I manage to download the program into the copter and let the copter finish some program functions that do not need the power of battery, like presenting the altitude of the copter.
In the green frame, the altitude grows higher because I lift up the copter.
It proves the laptop and vehicle is well-connected and can communicate.