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

**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 dcs_user@192.168.55.1` 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:

![](/files/yHzJ6BRSxSxS2iFhBcIz) ![](/files/Bi3Q795TYhJcOCWfkkHZ)

**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:

<figure><img src="/files/1UU6z0ib8HolzL0vmgnc" alt="" width="375"><figcaption></figcaption></figure>


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