Hi everyone ,
I am planning to implement the custom configuration on my vehicle however I am facing confusion while understanding the steps from the link given below:
https://www.ardusub.com/developers/developers.html#making-a-custom-configuration
I have read the link multiple times, gone through other BR forum topics also, yet I am confused from where to start.
I have installed WSL, Ubuntu , then Git.
Please can anyone guide me in steps like from where to start and how to upload the config file smoothly.
I have been attempting to follow the custom configuration instructions and have been working within OpenVSCode to perform a Git clone operation. However, I have encountered an error that reads: “unable to access: could not resolve host: github.com.” Despite my efforts, I have been unable to resolve this issue on my own.
Given the complexity of the problem and my limited success in troubleshooting it, I am reaching out to seek your expertise and guidance on how to resolve this matter effectively.
I would greatly appreciate your assistance in addressing this issue.
Hi @Aashley -
Can you verify your computer can reach GitHub - ArduPilot/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source? It sounds like you may not be connected to the internet, or that website is blocked by a firewall?
If you’re running this onboard the Raspberry Pi 4 running BlueOS, please verify it is connected to a WiFi network with internet (via the icon in the upper right.)
Hi @tony-white - Thankyou for helping out.
I have resolved the github error , and installed OpenVSCode extension , Followed the mentioned below steps to upload the custom configured AP_Motors6DOF.cpp (edited) file.
(I did all this when vehicle was not connected only navigator + raspi was connected through ethernet )
(secondly I did all the amendments in new navigator + raspi and then replaced sd-card of the old nav+raspi present in rov with the new one having all the changes. My question is, does swapping the sd-cards also matters ? )
- Entered cd ~/host/home/pi folder
- Did Git clone ‘GitHub - ArduPilot/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source’
- cd ardupilot
- git submodule update --init --recursive
- python -m pip install empy==3.3.4 pexpect future
- ./waf configure --board navigator
- ./ waf sub
- Then edited the AP_Motors6DOF.cpp through nano.
- again ./waf sub
- ./waf build
I did this all through BlueOs local ip network (192.168.2.2)
After all this process I went to Qground 'FRAME_CONFIG’ parameters and changed it to CUSTOM and reboot the vehicle.
Still I cannot access the CUSTOM configuration over Qground on rov.
After uploading this configuration , changing the settings over qground , we are only able to get motor working of only 3 thrusters.
I would really appreciate your assistance regarding what I am missing out.
Below I am attaching the outputs of each command , I attempted them twice or thrice that’s why the processing files output display could be short/different.
1. python -m pip install empy==3.3.4 pexpect future
[Uploading: image.png…]
2. ./waf configure --board navigator
3. ./waf sub
4. ./waf build
5. I also attempted ./waf --upload sub
Hi! the --upload option currently doesn’t work with blueos/navigator. You have to manually upload it via blueos after building
@williangalvani , Hi , Thankyou for helping out.
I need to confirm few things.
- We need to upload the file through ardupilot firmware update option in Blueos, if from there then will it automatically pick up the updated firmware file ?
- Are there any commands to write if Yes please help me out.
@williangalvani, Thankyou for guiding , however I am confused,
Can you please tell from where I could find the firmware file and upload it , as you know I am using Openvscode extension.
I tried to find ardusub or firmware files but I was confused which one and how to download from Openvscode and upload.
I would really appreciate if you help me out for this.
I haven’t followed this process, but Extensions generally have their files mapped to the extensions directory in the BlueOS File Browser. If the file is available there (likely inside the OpenVSCode folder) then you should be able to download it from the vehicle to your control computer, then upload it again via the upload firmware file option in the Autopilot Firmware page.
I believe @williangalvani was looking into a way to make that more convenient (e.g. making a way to upload it directly via the command-line in the VSCode extension), but that’s not functional/available yet.
Hi @EliotBR Thanks for replying,
I will review both file browsers, BlueOS and the extension one, to locate the ArduSub file. However, you mentioned that you have not followed this process. Could you please explain the procedure you recommend or have successfully used for uploading the custom firmware file? This information would greatly assist me in understanding the process more effectively.