This mono-repo contains the python related areas of fanequiña, that is an A Industriosa project about creating an autonomous boat.

Each folder in this mono-repo is a development area for fanequiña, currently we are working on the following areas:

Mastermind

A Machine Learning model & engine created to make fanequiña aware of it's surroundings while navigating.

Commander

dronekit's project created to work together with Mastermaind to command fanequiña using pixhawk 4.

Installation Ground Stations software

Firstable to connect and setup the PX4 you need to install some GCS software.

• Download and install QGroundControl or other option

Load ArduRover firmware into PX4 (Pixhawk 4)

We need to upload and configure the ArduRover firmware.

• ArduRover 2.4 download
• Pixhawk Firmware upload

Telemetry Radio control configuration

If you have any problem with Telemetry connetion you can always connect with USB more info

Telemetry drivers

• Download driver from FTDI chip
• Download driver from Driver page
  • Use 10_4_10_5_10_6_10_7 app.
  • Verify install using command ls -la /dev/tty.*

Hardware configuration (http://andrewke.org/setting-up-cloned-3dr-telemetry/)

• Request the battery.
• Inside fanequiña box, you will find the adapter.
• Plug the connector at POWER connector.
• Get the antenna, plug it at TELEM1 plug.
• Plugin usb receiver in your computer

Pixhawk configuration

There are some mandatory configurations. Also you must take in account that the hardware devices like compass, motors, etc could generate some noise with other devices. In those cases you will have problems with some firmware configuration, arming the rover or changing the vehicle mode.

Mandatory Hardware Configuration

• http://ardupilot.org/rover/docs/rover-code-configuration.html

  • Configure Firmware as Boat (“Frame class”)

  To specify that the vehicle is a boat the FRAME_CLASS parameter should be set to 2 (Boat).

  • http://ardupilot.org/rover/docs/boat-configuration.html#boat-configuration

  • http://ardupilot.org/rover/docs/balance_bot-configure.html?highlight=frame_class#parameter-configuration

  • http://ardupilot.org/rover/docs/rover-motor-and-servo-connections.html?highlight=servo

  • http://ardupilot.org/rover/docs/common-pixhawk-and-px4-compatible-rc-transmitter-and-receiver-systems.html#common-pixhawk-and-px4-compatible-rc-transmitter-and-receiver-systems

Conecting the receiver

• http://ardupilot.org/rover/docs/common-pixhawk-and-px4-compatible-rc-transmitter-and-receiver-systems.html