Connecting Raspberry Pi to the flight controller
In order to program autonomous flights, work with Pixhawk or Pixracer over Wi-Fi, use controller app and access other functions you need to connect your Raspberry Pi to the flight controller.
USB connection
USB connection is the preferred way to connect to the flight controller.
Connect your FCU to the Raspberry Pi using a microUSB to USB cable.
Make sure the connection is working by running the following command on the Raspberry Pi:
rostopic echo /mavros/state
The
connected
field should have theTrue
value.s
TIP
You need to set the CBRK_USB_CHK
parameter to 197848 for the USB connection to work.
UART connection
TIP
In the image version 0.20 clever
package and service was renamed to clover
. See previous version of the article for older images.
UART connection is another way for the Raspberry Pi and FCU to communicate.
Connect Raspberry Pi to your FCU using a UART cable.
Change the connection type in
~/catkin_ws/src/clover/clover/launch/clover.launch
to UART:<arg name="fcu_conn" default="uart"/>
Be sure to restart the
clover
service after editing the .launch file:sudo systemctl restart clover
TIP
Set the SYS_COMPANION
PX4 parameter to 921600 to enable UART on the FCU.
SITL connection
In order to connect to a local or a remote SITL instance set the fcu_conn
parameter to udp
and fcu_ip
to the IP address of the SITL instance (127.0.0.1
if you are running the instance locally):
<arg name="fcu_conn" default="udp"/>
<arg name="fcu_ip" default="127.0.0.1"/>