Version: tags/1.0.1-0-gbc26236Build: 4/6/2022, 3:04:28 PM
I’m building an underwater drone that steers like a plane.
So therefore I’m trying to make a firmware build, combining the safety features of the SUB, with the steering of the plane, firmware.
So my problem is, that when building the standard firmware for a SUB, with waf, from ardupilot GIT repository, and flash it to the navigator board, then I lose the heartbeat.
What is the name for the BlueRobotic navigator bord, when building firmware with waf?
Any help would be greatly apreciated.
Hi @BjornAU, welcome to the forum
Sounds like an interesting project
I suppose it’s somewhat related to our broader goal of advanced control options for ArduSub - I’m interested to know how you go!
The way I did it was;
ran: ./waf configure --board navigator
ran: ./waf sub
I took the ardusub build from build/navigator/bin/ and uploaded it to the navigator board thru the BlueOS web interface.
I restarted the board and rebooted the RPi. when it was booted up the heartbeat was lost, and I couldn’t get connection to QGroundControle
The repository I used is a clone of the GitHub - ArduPilot/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source repository, should I use another repository?
Or is there other things I should do differently?
@BjornAU double check your gcc version, I recommend 9.2.1.
Newer ones cause glibc issues in the Pi.
I need a little more help.
I’m trying to control a towed underwater glider, that I’m developing and building for Claus Melvad at Aarhus University.
I have tried installing the firmware from the menu in BlueOS, with this firmware, I have a heartbeat in BlueOS and a connection to QGC_9.2.1.
Then because I’m building an underwater glider, I wanted to build the Sub firmware with waf as a test.
for this my procedure was;
- Clone of the GitHub-Ardupilot repository, to make my own branch, and cloned the branch to a folder in Windows Subsystem for Linux (WSL).
- In the Ubuntu terminal I ran
./waf clean to start in the clean.
./waf configure --board navigator
- Then I uploaded the file
ardusub, from the path
\\wsl$\Ubuntu-22.04\home\pix\ardupilot\build\navigator\bin thru BlueOS Upload custom firmware
And then i loos the HeartBeat in BlueOS og forbindelsen til QGC_9.2.1.
I have the result from the terminal but I cant upload it, as I’m new to the forum
- Where did I go wrong?
- In the end I need firmware for a vehicle that acts like an underwater plane, with the sub failsafes. would it then be easier to implement failsafes from a sub on a plane or the other way around?
- Is there a main build file with what to include, in the respective vehicle firmware?
Now I understand what you ment.
I got it working using the info from another topic about the same problem: