Onboard controller

The controller was tested on a RaspberryPi 4 4GB, Raspbian, 32GB microSD-Card

Raspbian installation

Install the rasbian image on a microSD-Card

umount /dev/sdX1
dd bs=4M if=2019-09-26-raspbian-buster.img of=/dev/sdX conv=fsync

Raspberrypi config

Add a new user

add user msp

Set a password

passwd

Enable I2C BUS

sudo raspi-config   #enable i2c
chgrp i2c /dev/i2c-1
chmod 666 /dev/i2c-1

Install tools (cmake, gdbserver, doxygen)

sudp apt-get update
sudo apt-get install build-essential
sudo apt-get install gcc-7 g++-7        # min version for std=c++17 <filesystem>      
sudo apt-get install cmake
sudo apt-get install gdbserver
dsudo apt-get install doxygen

DJI OSDK needs

• Create a udev file called DJIDevice.rules inside /etc/udev/rules.d/
• Add SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666" to this file
• Reboot your computer

Permissions

sudo usermod -a -G dialout $USER

DJI App-key

• create a DJI developer account
• create a new OSDK app
• copy the key and id to a UserConfig.txt file
• copy UserConfig.txt to the home directory

Installation

# download git repository
git clone https://gitlab.ti.bfh.ch/msp/msp-onboard.git
cd msp-onboard

# executing cmake will download necessary dependencies
mkdir _build
cd _build
cmake -DCMAKE_BUILD_TYPE=Release ..     # cmake -DCMAKE_BUILD_TYPE=Debug .. 
cd ..

# install DJI Onboard-SDK
cd Onboard-SDK
mkdir _build
cd _build
cmake ..
make install
cd ..

# install MSP application
mkdir _build
cd _build
cmake ..
make install

# copy msp systemd service
cp msp.service /lib/systemd/system/msp.service

Documentation

The documentation is done by doxygen

gunzip doxygen-$VERSION.src.tar.gz    # uncompress the archive
tar xf doxygen-$VERSION.src.tar       # unpack it

cd doxygen-$VERSION
mkdir build
cd build

App Service

sudo systemctl enable msp.service
sudo systemctl start msp.service
sudo systemctl daemon-reload

Debug

example with gdbserver and VS code

On RaspberryPi

• stop the msp.service service
• build the software
  • cmake -DCMAKE_BUILD_TYPE=Debug ..
  • make install

gdbserver :9999 bin/msp-onboard --debug

On host

mount rasperryPi's filesystem with sshfs

git clone https://gitlab.ti.bfh.ch/msp/msp-onboard.git
cd msp-onboard/remote
sshfs msp@RASPI_IP/home/msp/msp-onboard ./msp-onboard-remote

• open new VS Code window directory remote
• add the file .vscode/launch.json
• add the following configuration

{
"configurations": [    
        {
            "name": "C++ Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceRoot}/msp-onboard-remote/bin/msp-onboard",
            "miDebuggerServerAddress": "RASPI_IP:9999",
            "sourceFileMap": { "/home/msp/msp-onboard/src/":"PATH_TO_REPO/msp-onboard/remote/msp-onboard-remote/src/" },
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceRoot}",
            "environment": [],
            "externalConsole": true,
            "linux": {
              "MIMode": "gdb"
            },
            "osx": {
              "MIMode": "gdb"
            },
            "windows": {
              "MIMode": "gdb"
            }
          }
    ]
}