DroneCore.OS on DCS 1 & 2 (with Orin NX)

This is a quick tutorial on how to work with the DCS 1.2 and DCS 2.0 that were setup with our open-source DroneCore.Os

Workflow with DCS

After connecting the power supply, you can connect a micro USB cable to the device and a host PC. Then, using SSH, you can connect to the device from the host PC. ssh [email protected] password: dronecore

There are six example packages to showcase the basic capabilities of the DCS. The packages are open-source:

• av-mavlink-configuration (https://gitlab.com/airvolute_oss/dronecore.os/av-mavlink-configuration.git)

• av-stribog-cam (https://gitlab.com/airvolute_oss/dronecore.os/av-stribog-cam.git): This package contains numerous configuration files. Files with _20_ are intended for use with DCS 2.0, while files with _12_ are intended for use with DCS 1.2. example usage:

  On host PC open udpsrc for respective cameras (based on port), example showing both stereopar and NextVision with 3 different terminal windows:

  gst-launch-1.0 udpsrc port=8020 caps="application/x-rtp, media=video, encoding-name=H264, payload=96" ! rtph264depay ! h264parse ! avdec_h264 ! queue ! videoconvert ! autovideosink
  
  gst-launch-1.0 udpsrc port=8000 caps="application/x-rtp, media=video, encoding-name=H264, payload=96" ! rtph264depay ! h264parse ! avdec_h264 ! queue ! videoconvert ! autovideosink
  	
  gst-launch-1.0 udpsrc port=8001 caps="application/x-rtp, media=video, encoding-name=H264, payload=96" ! rtph264depay ! h264parse ! avdec_h264 ! queue ! videoconvert ! autovideosink

  On device: cd ~/airvolute-release/src/av-stribog-cam/build

  then we can start the cameras:

  DCS 1.2 av-stribog-cam ../resources/config_dcs_12.yaml

  DCS 2.0 av-stribog-cam ../resources/config_dcs_20.yaml

• mavlink-nextvision-adapter (https://gitlab.com/airvolute_oss/dronecore.os/mavlink-nextvision-adapter.git): The service av-mavlink-nextvision-adapter.service is disabled by default to allow the nv-gimbal-example to run properly.

• mavlink-udp-comm-template (https://gitlab.com/airvolute_oss/dronecore.os/mavlink-udp-comm-template.git)

• mavlink-udp-interface (https://gitlab.com/airvolute_oss/dronecore.os/mavlink-udp-interface.git)

• nv-gimbal-example (https://gitlab.com/airvolute_oss/dronecore.os/nv-gimbal-example.git)

These packages are located in the ~/airvolute-release/src folder.

Mavlink and mavlink-router are also installed. To configure mavlink-router endpoints, you can edit the /etc/mavlink-router/main.conf file and then restart the mavlink-router.service using systemctl.

By default the GCS running on host PC should be able to connect to the ArduPilot when connecting through the standart micro USB connector on the board.

Camera Setup with DCS 2.0:

• NextVision USB -> USB C || USB B || USB A

• NextVision CSI -> CAM 2/3

• OV Stereopair -> CAM 0 + CAM 1

The camera setup is can be seen on:

Camera Setup with DCS 1.2:

• NextVision USB -> USB C || USB B

• NextVision CSI -> CSI B

• OV Stereopair -> CSI A + CSI C

The camera setup is as seen on image: