flash pi sd card

use imager and install Ubuntu Server 20.04.4 LTS ​ edit the network-config file in system-boot add the following code:

wifis:
  wlan0:
    dhcp4: true
    optional: true
    access-points:
      "swarm-5G": {}

​

boot the pi with sd card

​ Warning: ​ During your first boot a tool called cloud-init is doing configuration. WAIT for it to finish before trying to log in. It typically takes less than 2 minutes but there is a break between the log-in prompt and cloud-init completing. If you interrupt the process you have to start again. You’ll know it’s done when it outputs some more lines after the log-in prompt has appeared. ​ login with ubuntu and password ubuntu ​ ​

install docker into pi

​ https://docs.docker.com/engine/install/ubuntu/ ​

enable uart port on pi

over pi terminal

sudo nano /boot/firmware/usercfg.txt

add the following line

dtoverlay=uart4
dtoverlay=uart5

reboot the pi ​

start ros2-pi bridge docker image:

only need to run this command once.

sudo docker run -it --privileged --net=host --name=ros2_px4_bridge chenrc98/ros2-px4-pi:version1.1 bash

To went back to the docker image, type:

sudo start ros2_px4_bridge
sudo exec -it ros2_px4_bridge bash

uart connection between px4 and pi

​ uart4 TXD 8(pin 24), RXD 9(pin 21), CTS 10(pin 19), RTS 11(23) ​ uart5 TXD 12 RXD 13 ​

start px4 bridge 

cd ~/px4_ros_com_ros2
source install/setup.bash
micrortps_agent -d /dev/ttyAMA1 -b 921600

​

mavlink-routerd

the config file is in ` /etc/mavlink-router/main.conf` ​ ​

custom firmware for PX4

​ In PX4 firmware folder, navigate to boards/cubepilot/cubeorange create file rtps.px4board by

touch rtps.px4board

and add following line:

CONFIG_MODULES_MICRORTPS_BRIDGE=y

build the firmware by

make cubepilot_cubeorange_rtps

QGC parameters

RTPS_CONFIG -> TELEM 2

​ ​ https://www.ardusimple.com/send-ntrip-corrections-to-ardupilot-with-missionplanner-qgroundcontrol-and-mavproxy/