Good evening. I am in the process of building a small ROV from scratch for a senior design project at Pennsylvania State University. I am using QGroundControl on my surface PC, a Raspberry Pi 3 for my companion computer flashed with the latest ArduSub firmware (3.5.1 I believe). I am able to ping my RPi from the surface PC, and ping my surface PC from my RPi. However, I believe there is an issue with MAVProxy due to QGC saying that my vehicle is not connected. I will walk you all through step by step what I have done up to this point and perhaps you can spot my problem. THANK YOU in advance for your time and effort!
I have based all of my procedures on the ArduSub documentation found at :https://www.ardusub.com/getting-started/installation.html.
Step 1) I downloaded and installed QGroundControl (QGC). This includes the FTDI CDM Driver Package (VCP Driver and Bus/D2XX Driver), 3D Robotics (usbser) Ports (04/11/2013 188.8.131.52), and the Arduino LLC (usbser) Ports. These all installed completely and without issue.
Step 2) I then opened QGC and plugged my Pixhawk (PX4 FMU V2) into a USB port on my computer. My Pixhawk was recognized QGC and I flashed the ArduSub firmware onto the Pixhawk. Screen shot available.
Step 3) I purchased the preloaded SD card from the Blue Robotics store and plugged it into my RPi 3 Micro SD card port. I did not connect or turn on my RPi 3 yet.
Step 4) I configured my network settings and firewall as per the ArduSub installation instructions. Surface PC IP address 192.168.2.1, subnet mask 255.255.255.0. QGC was allowed access through the firewall on public and private domain. Screen shots available.
Step 5) I now connected the hardware in this exact order:
1> Ethernet cable between surface computer and RPi 3
2> Pixhawk Safety Switch to Safety Switch port
3> Pixhawk MicroUSB to RPi 3 USB
4> RPi 3 Power adapter (5V 3A wall adapter) to RPi 3 MicroUSB port
The RPi 3 now powers up and the Pixhawk LED’s come on shortly after.
The LED’s on the Pixhawk are lighting as follows:
FMU PWR - Solid Green
FMU B/E - No Light
IO PWR - Solid Green
IO B/E - Solid Red
IO ACI - Flashing Blue
Safety Switch - Fast Flashing Red
Step 6) I now open the command prompt on my surface PC and ping the RPi 3. Which is successful, no packet loss.
Step 7) I now launch PUTTY and login to the RPi 3. I then successfully ping my surface computer from the RPi 3.
Step 8) I go into QGC and add two comm links. The first is a UDP on port 14550. The second is a UDP on port 5600. I then connect to both of these comm links. These two links are based on the software schematic at: https://www.ardusub.com/software/components.html.
On the general application settings I have auto connect check boxed for all hardware and my video stream to come in on UDP port 5600.
QGC still tells me that it is “Waiting for vehicle connection”. To me this means that the surface PC and the RPi 3 are communicating fine and there is some problem with the Pixhawk or between the Pixhawk and RPi 3.
To further explore this I use the “sudo screen -r mavproxy” command to see if MAVProxy is running and this is the response I get:
I’m really not sure where to go from here. Any help on resolving this issue would be AMAZING! THANK YOU ALL SO MUCH for taking the time out of your day and to offer any assistance.