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
	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" --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
	

raspi config
	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 

Pi4: 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 …

Pi Zero: 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)

Pi3: 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)

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