nyuuzyou/wikis huggingface dataset:
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Elle

Autopilots
right|500px|Elle0 V1.2 In Hand
__TOC__
Elle is a new autopilot system developed by 1BitSquared for the Paparazzi UAV framework.
It currently consists of:
* Elle0 low cost STM32F4 based autopilot.
* G0 GPS receiver
* R0 Sub GHz radio modem
* UU0 USB to UART adapter module
Category:Hardware Category:Autopilots
EnergyControl

Some more info [Doxygen]
Total Energy (speed + height) control for fixed wing vehicles.
An airspeed sensor is mandatory!
implementation of guidance energy
schematics for guidance energy. They represent only the main part for a better over view. Not included are any kind of safety functions.
== Very Quick I'm feeling Lucky Tuning Manual ==
Start with:
=== outerloop: ===
* alt-pgain about 0.1 
* speed-pgain about 0.2
=== innerloop: ===
* airspeed sp -> make sure it is OK
* cruise_throttle -> your preferred initial cruise throttle: 0.6 ? (this is overruled/adapted by the tot_en_i-gain)
* cruise pitch -> zero or your preferred initial cruise pitch (this is overruled/adapted by the dis_en_i-gain)
* P_en_tot -> 20% of slider
* I_en_tot -> 20% of slider
* P_en_dis -> 20% of slider
* I_en_dis -> 20% of slider
== More Step By Step ==
To allow nice step by step tuning with less risk, I recommend to start with the integrators set to zero. 
If you do not thrust your airspeed or IMU you might even start with all en_tot en en_dis gains set to zero but with the throttle_incr gain set to about 0.1 and the pitch_of_vz set to also about 0.1 to turn it into a traditional old-style fixedwing outerloop (without airspeed). 
A next possible step is to add a very small bit of I_th_air. This will slowly adapt the cruise throttle to get the correct average airspeed.
...
incomplete ...
Explorer

The Explorer is a rotorcraft. 
It is used to test : 
* control loops such as PID and INDI 
* simultaneous datalinks such as Xbee and Wifibroadcast
* vision algorithm
The Explorer frame is 3Dprinted Explorer/3DPrinted
The aircraft flies an Apogee or a Tawaki autopilot board Explorer/PPRZ.
The RaspberryPi provides:
- a camera link 
- an additional communication link 
- an easy way to run computation tasks 
There are two RaspberryPi :
- on board, as a companion board to the autopilot
- on ground, as an interface to the companion board
The RPI Zero and RPI 3B can be used in this aircraft as they provided at least one UART and one USB 
Explorer/RaspberryPi
The equipments connected to the autopilot board are :
* Dshot 4in1 ESC board
* GPS (D-GPS) Explorer/RTK
* Xbee Explorer/Xbee
* Leds Explorer/Leds
* Radio control 
* Servo Explorer/Servo
The equipments connected to the companion board are :
* Camera 
* External wifi
Explorer/PPRZ/Tunning

Explorer
Tunning the vertical loop
 <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
Add following mode to telemetry file
 <mode name="vert_loop" key_press="v">
 <message name="ROTORCRAFT_STATUS" period="1.2"/>
 <message name="DL_VALUE" period="0.5"/>
 <message name="ALIVE" period="0.9"/>
 <message name="VFF" period=".05"/>
 <message name="VFF_EXTENDED" period=".05"/>
 <message name="VERT_LOOP" period=".05"/>
 <message name="INS_Z" period=".05"/>
 <message name="INS" period=".11"/>
 <message name="INS_REF" period="5.1"/>
 </mode>
Switch to NAV mode, takeoff, standby 
Set telemetry from default to vert_loop 
Plot in realtime
~/Projects/paparazzi/sw/ground_segment/tmtc/messages 
~/Projects/paparazzi/sw/logalizer/plotter 
or post process ground log and data files
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight 
=> in flight test, adjust KP and KD
 
 <define name="HOVER_KP" value="90"/>
 <define name="HOVER_KD" value="120"/>
 <define name="HOVER_KI" value="0"/>
 <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
 <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
2) Set KP and KD
=> in flight test, adjust KI 
 
 <define name="HOVER_KP" value="300"/>
 <define name="HOVER_KD" value="100"/>
 <define name="HOVER_KI" value="0"/>
3) Set KI, and adaptation
 <define name="HOVER_KP" value="300"/>
 <define name="HOVER_KD" value="100"/>
 <define name="HOVER_KI" value="15"/>
 <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
 <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
 <define name="ADAPT_NOISE_FACTOR" value="1."/>
 <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>
Explorer/RTK

==== Outdoor RTK ====
The RTK system consists on an onboard and onground equipment: the ublox NEO-M8P. 
This chip is provided by Drotek in two boards : Tiny M8P and XL M8P. 
Each board can play the rover station or the stationary station. 
The boards can also be mixed. 
However, the XL M8P is equipped with a LIS3MDL magnetometer which provides an external magnetic sensor to improve onboard heading. 
===== Board equipment =====
*RTK M8P + external Mag
 
Explorer_M8P_RTK_Mag.jpg
Explorer_M8P_RTK_Mag_zoom.jpg
Apogee
 <module name="gps" type="ublox">
 <configure name="GPS_PORT" value="UART4"/>
 <configure name="GPS_BAUD" value="B115200"/>
 <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
 </module>	
 <module name="mag_lis3mdl.xml">
 <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
 <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c1"/>
 </module>
 
Explorer_M8P_RTK_Mag_Apogee_Uart4.jpg
Explorer_M8P_RTK_Mag_Apogee_I2C1.jpg
Tawaki
 <module name="gps" type="ublox">
 <configure name="GPS_PORT" value="UART7"/>
 <configure name="GPS_BAUD" value="B115200"/>
 <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
 </module>	
 <module name="mag_lis3mdl.xml">
 <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
 <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c1"/>
 </module>
===== Ground equipment =====
* RTK M8P 
Explorer M8P RTK square close.jpg
Explorer M8P RTK square open.jpg
* RTK M8P with Xbee transceiver 
Explorer_M8P_RTK_XL.jpg
Explorer_M8P_RTK_XL_2.jpg
Explorer_M8P_RTK_XL_4.jpg
Explorer
Explorer/RaspberryPi

Explorer
* Explorer/RaspberryPi/Setup
* Explorer/RaspberryPi/Softwares
* Explorer/RaspberryPi/Autopilot
* Explorer/RaspberryPi/Log
* Explorer/RaspberryPi/PowerOffProtection
* Explorer/RaspberryPi/Wifibroadcast
* Explorer/RaspberryPi/Wifibroadcast/Integration
* Explorer/RaspberryPi/Wifibroadcast/Run
* Explorer/RaspberryPi/Wifibroadcast/Equipements
* Explorer/RaspberryPi/DualLink
* Explorer/RaspberryPi/Visualprocessing
* Explorer/RaspberryPi/BackupRestore
Explorer/RaspberryPi/BackupRestore

* Backup
 dd bs=512 count=1 if=/dev/sde of=mbr.img
 sync
 umount /media/pprz/boot
 sudo partclone.fat --clone --source /dev/sde1 --output - | bzip2 -9 > boot.img
 umount /media/pprz/rootfs
 sudo partclone.extfs --clone --source /dev/sde2 --output - | bzip2 -9 > system.img
* Restore
 dd bs=512 count=1 of=/dev/sde if=mbr.img
 sync
 sudo partprobe
 umount /media/pprz/*
 sudo bunzip2 -c boot.img | sudo partclone.vfat --restore --source - --output /dev/sde1
 sudo bunzip2 -c system.img | sudo partclone.extfs --restore --source - --output /dev/sde2
* Explorer/RaspberryPi
Explorer/RaspberryPi/DualLink

Telemetry file
 <process name="Extra">
 <mode name="default">
 <message name="AUTOPILOT_VERSION" period="11.1"/>
 <message name="DL_VALUE" period="1.1"/>
 <message name="ROTORCRAFT_STATUS" period="1.2"/>
 <message name="ROTORCRAFT_FP" period="0.25"/>
 <message name="ALIVE" period="2.1"/>
 <message name="INS_REF" period="5.1"/>
 <message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
 <message name="WP_MOVED" period="1.3"/>
 <message name="GPS_INT" period=".25"/>
 <message name="INS" period=".25"/>
 <message name="ENERGY" period="2.5"/>
 <message name="DATALINK_REPORT" period="5.1"/>
 <message name="STATE_FILTER_STATUS" period="3.2"/>
 <message name="AIR_DATA" period="1.3"/>
 </mode>
 </process>
GCS
 /home/pprz/Projects/paparazzi/sw/ground_segment/tmtc/link -udp -id 2 -redlink 
 /home/pprz/Projects/paparazzi/sw/ground_segment/tmtc/link -d /dev/paparazzi/xbee -transport xbee -s 57600 -id 1 -redlink 
 /home/pprz/Projects/paparazzi/sw/ground_segment/python/redundant_link/link_combiner.py 
Groundpi
groundpi.sh
 #Update GCS_IP with yours 
 export GCS_IP=192.168.3.1
Explorer_DualLink_Onground_GCS.jpg
Explorer_DualLink_Onground_xbee.jpg
Explorer_DualLink_Onground_wbs.jpg
Explorer_DualLink_Onboard_open.jpg
Explorer/RaspberryPi/Log

#!/usr/bin/env python3
 import re
 import numpy as np
 import pandas as pd 
 from scipy.interpolate import griddata, interp1d
 import matplotlib.pyplot as plt
 import seaborn as sns
 import matplotlib as mpl
 
 class msgparse():
 def __init__(self, msg_name, columns, drop_columns, nbpat, pat):
 self.msg_name = msg_name
 self.columns = columns
 self.drop_columns = drop_columns
 self.nbpat = nbpat
 self.pat = pat
 self.list_meas = []
 
 msg = []
 msg.append(msgparse('attitude',['time', 'phi','psi','theta'],['time'],4,'ATTITUDE (\S+) (\S+) (\S+)'))
 msg.append(msgparse('actuators',['time', 'S0','S1','S2'],['time'],4,'ACTUATORS (\S+),(\S+),(\S+)'))
 msg.append(msgparse('commands',['time', 'C0','C1','C2'],['time'],4,'COMMANDS (\S+),(\S+),(\S+)'))
 msg.append(msgparse('imuaccel',['time','Ax','Ay','Az'],['time'],4,'IMU_ACCEL (\S+) (\S+) (\S+)'))
 msg.append(msgparse('imugyro',['time','Gx','Gy','Gz'],['time'],4,'IMU_GYRO (\S+) (\S+) (\S+)'))
 msg.append(msgparse('mode',['time','mode','1','2','3','4','5'],['time','1','2','3','4','5'],7,'PPRZ_MODE (\S+) (\S+) (\S+) (\S+) (\S+) (\S+)'))
 msg.append(msgparse('settings',['time','m1','m2','add1','add2'],['time'],5,'SETTINGS (\S+) (\S+) (\S+) (\S+)'))
 
 
 def read_log(ac_id, filename):
 pattern = []
 for i in range(0,len(msg)):
 pattern.append(re.compile("(\S+) "+ac_id+" "+msg[i].pat)) 
 f = open(filename, 'r')
 
 while True:
 line = f.readline().strip()
 if line == :
 break
 for i in range(0,len(msg)):
 m = re.match(pattern[i], line)
 if m:
 tmp = []
 for j in range(1,msg[i].nbpat+1):
 tmp.append(float(m.group(j)))
 msg[i].list_meas.append(tmp)
 
 def linearize_time(pad, sample_period,df, min_t=None, max_t=None):
 if (min_t or max_t) == None:
 min_t = min(df.index)
 max_t = max(df.index)
 time = np.arange(int(min_t)+pad, int(max_t)-pad, sample_period)
 out = pd.DataFrame()
 out['time'] = time
 for col in df.columns:
 func = interp1d(df.index , df[col])
 out[col] = func(time)
 out.index = out.time
 out.drop(['time'], axis=1, inplace=True)
 return out
 
 if __name__ == "__main__":
 ac_id = '214'
 filename = '/data/logfile.txt'
 read_log(ac_id,filename) 
 
 df_list = []
 for i in range(0,len(msg)):
 exec('data_values = np.array(msg[i].list_meas)'.format(msg[i].msg_name))
 df = pd.DataFrame(data_values, columns=msg[i].columns)
 df.index = df.time
 df.drop(msg[i].drop_columns, axis=1, inplace=True)
 df_list.append(df) 
 
 min_t = 1000.;max_t = -1.
 for df in df_list:
 min_t = min(min_t, min(df.index))
 max_t = max(max_t, max(df.index)) 
 
 pad=10;sample_period=0.01
 frames = [linearize_time(pad,sample_period,df_list[i], min_t, max_t) for i in range(0,4)]
 df_All=pd.concat(frames, axis=1, ignore_index=False, sort=False) 
 
 sns.set()
 df_All.plot(subplots=True, figsize=(12,10));plt.show()
 #df_list[6].plot(subplots=True, figsize=(12,10));plt.show()
Explorer/RaspberryPi
Explorer/RaspberryPi/PowerOffProtection

* Install
 git clone https://github.com/marklister/overlayRoot.git
 cd overlayRoot 
 sudo bash install
 sudo dphys-swapfile swapoff;\
 sudo dphys-swapfile uninstall;\
 sudo update-rc.d dphys-swapfile remove
* Check
check: reboot, create file, reboot, file is not here
 /boot/cmdline.txt
 remove "init=/sbin/overlayRoot.sh"
check: reboot, create file, reboot, file is here
* Usage
 sudo mount -o remount,rw /ro
 sudo chroot /ro
* Add a writable "/data" partition
Get and plug the RaspberryPi SD memory card on a desktop and create new FAT32 data partion.
Get and plug the SD memory card on the Raspbery Pi and boot.
 
 check /etc/fstab
 "
 proc /proc proc defaults 0 0
 PARTUUID=738a4d67-01 /boot vfat defaults 0 2
 PARTUUID=738a4d67-02 / ext4 defaults,noatime 0 1
 "
 add new partition with yours UUID
 PARTUUID=738a4d67-03 /data vfat nofail,umask=0000 0 0
See "usage" to update /etc/fstab on the "writable" partition
Explorer/RaspberryPi
Explorer/RaspberryPi/Setup

Explorer
Explorer/RaspberryPi/Softwares
* Installation
Download and install raspbian (debian for raspberry) lite package (same for PI3 and PIzero)
Raspberry Pi OS (32-bit) Lite (buster : 433M)
 wget https://downloads.raspberrypi.org/raspbian_lite_latest
 Flash the RaspberryPi OS on a 16Gb minimum size SD
 
 mv raspbian_lite_latest raspbian_lite_latest.zip
 ./balenaEtcher-1.5.79-x64.AppImage
* Initial configuration:
PI3 and PIZero can be configured headless, without a keyboard and a display.
You just need to configure the board to connect to a wifi hotspot when power on.
* Plug the memory SD card with the fresh raspbian installed.
Create file (sudo touch)
 boot/ssh
Create the file with following content (sudo vi)
 boot/wpa_supplicant.conf
 "
 ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
 update_config=1
 country=FR
 network={
 ssid="Androidxp"
 psk="pprzpprz"
 }
 network={
 ssid="pprz_router"
 key_mgmt=NONE
 }
 "
* Plug the SD memory card in the raspberry Pi and power on.
* Connect your computer to the same wifi hotspot
* Look for the Raspberry IP on the network
 nmap -sn 192.168.1.0/24
* Connect to the identified IP
 ssh pi@...
 password: raspberry
* Set the configuration
 sudo raspi-config
 1) change user password
 5) P1) enable camera
 P6) login shell:disable
 serial interface:enable
 7) advanced options
 A1) expand filesystem
 /etc/hosts
 127.0.1.1 raspberrypi
 to 127.0.1.1 airpi or groundpi
 /etc/hostname
 raspberrypi to airpi or groundpi
 /etc/dhcpcd.conf
 "
 # It is possible to fall back to a static IP if DHCP fails:
 # define static profile
 profile static_eth0
 static ip_address=192.168.3.2/24
 static routers=192.168.3.1
 static domain_name_servers=192.168.3.1
 # fallback to static profile on eth0
 interface eth0
 fallback static_eth0
 "
 /boot/config.txt
 "
 dtoverlay=pi3-disable-bt
 "
 sudo reboot
 
 sudo systemctl stop serial-getty@ttyAMA0.service
 sudo systemctl disable serial-getty@ttyAMA0.service
 sudo systemctl stop hciuart
 sudo systemctl disable hciuart
Explorer/RaspberryPi/Softwares/gstreamer

Explorer
* Install gstreamer 
 sudo apt-get install gstreamer1.0-plugins-base -y; \
 sudo apt-get install gstreamer1.0-plugins-good -y; \
 sudo apt-get install gstreamer1.0-plugins-bad -y; \
 sudo apt-get install gstreamer1.0-plugins-ugly -y; \
 sudo apt-get install gstreamer1.0-libav -y; \
 sudo apt-get install gstreamer1.0-omx -y; \
 sudo apt-get install gstreamer1.0-tools -y
* Check installation with camera unicast
 | --> camera1 (x-h264) --> port=5000
 raspivid (x-h264) --> | 
 | omxh264dec --> camera2 (x-raw,I420) --> omxh264enc --> port=5100
Server:
 rm /tmp/camera*; \
 raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
 | gst-launch-1.0 fdsrc \
 ! h264parse \
 ! video/x-h264,stream-format=byte-stream \
 ! tee name=streams \
 ! omxh264dec \
 ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
 ! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false streams. \
 ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
 ! shmsink socket-path=/tmp/camera1 wait-for-connection=false sync=false
 gst-launch-1.0 shmsrc socket-path=/tmp/camera1 do-timestamp=true \
 ! video/x-h264,stream-format=byte-stream,alignment=au \
 ! rtph264pay name=pay0 pt=96 config-interval=1 \
 ! udpsink host=CLIENTIP port=5000
 gst-launch-1.0 shmsrc socket-path=/tmp/camera2 do-timestamp=true is-live=true \
 ! video/x-raw,format=I420,width=640,height=480,framerate=15/1 \
 ! omxh264enc \
 ! video/x-h264,profile=high \
 ! rtph264pay name=pay0 pt=96 config-interval=1 \
 ! udpsink host=CLIENTIP port=5100
Client: (port 5000 and 5100)
 gst-launch-1.0 udpsrc port=5000 \
 ! application/x-rtp, encoding-name=H264,payload=96 \
 ! rtph264depay \
 ! h264parse \
 ! avdec_h264 \
 ! videoconvert \
 ! autovideosink
* Explorer/RaspberryPi/Softwares/rtsp-server
Explorer/RaspberryPi/Softwares/rtsp-server

Explorer
Explorer/RaspberryPi
* Install Server RTSP
 sudo apt-get install libglib2.0 -y;\
 sudo apt-get install libgstreamer1.0-dev -y;\
 sudo apt-get install libgstreamer-plugins-base1.0-dev -y
 gst-launch-1.0 --version
 => gst-launch-1.0 version 1.14.4
 wget http://gstreamer.freedesktop.org/src/gst-rtsp-server/gst-rtsp-server-1.14.4.tar.xz
 tar -xf gst-rtsp-server-1.14.4.tar.xz
 rm gst-rtsp-server-1.14.4.tar.xz
 cd gst-rtsp-server-1.14.4/
 ./configure
 ~/gst-rtsp-server-1.14.4/examples/test-launch.c 
 patched with second stream 
 "
 GstRTSPMediaFactory *factory2;
 factory2 = gst_rtsp_media_factory_new ();
 gst_rtsp_media_factory_set_launch (factory2, argv[2]);
 gst_rtsp_mount_points_add_factory (mounts, "/test2", factory2);
 "
 cd ~/gst-rtsp-server-1.14.4
 make
 sudo make install
* Check installation with camera unicast
Server
 rm /tmp/camera*;\
 raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \
 | gst-launch-1.0 fdsrc \
 ! h264parse \
 ! video/x-h264,stream-format=byte-stream \
 ! tee name=streams \
 ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
 ! udpsink host=127.0.0.1 port=5100 streams. \
 ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
 ! omxh264dec \
 ! shmsink socket-path=/tmp/camera2 wait-for-connection=false sync=false
 gst-rtsp-server-1.14.4/examples/test-launch \
 "udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
 "shmsrc socket-path=/tmp/camera2 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1"
client:
 gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false
 gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false
Explorer/RaspberryPi/Visualprocessing

File recording
 gst-launch-1.0 shmsrc socket-path=/tmp/camera1 do-timestamp=true \
 ! h264parse config-interval=1 \
 ! matroskamux \
 ! filesink location=/data/file0.mkv
* Explorer/RaspberryPi/Visualprocessing/Opencv
* Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation
* Explorer/RaspberryPi/Visualprocessing/Motionvector
* Explorer/RaspberryPi/Visualprocessing/Motionvector/Run
* Explorer/RaspberryPi/Visualprocessing/IMU
Explorer/RaspberryPi/Visualprocessing/Motionvector/Run

rm /tmp/camera*;
 /home/pi/RaspiCV/build/raspicv -t 0 -w 640 -h 480 -fps 30/1 -b 500000 -cd H264 -n -a ENAC -ae 22 -x /dev/null -r /dev/null -rf gray -o - \
 | gst-launch-1.0 fdsrc \
 ! h264parse \
 ! video/x-h264,stream-format=byte-stream \
 ! udpsink host=127.0.0.1 port=5100
 gst-rtsp-server-1.14.4/examples/test-launch \
 "udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
 "shmsrc socket-path=/tmp/camera3 do-timestamp=true ! video/x-raw, format=I420, width=640, height=480, framerate=30/1 ! omxh264enc ! video/x-h264,profile=high ! rtph264pay name=pay0 pt=96 config-interval=1"
client
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false
___________________
airpi.sh
 ...
 /home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 6 -u 5610 wlan1 &
 /home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1 &
 ...
 /home/pi/RaspiCV/build/raspicv -t 0 -w 640 -h 480 -fps 30/1 -b 500000 -cd H264 -n -a ENAC -ae 22 -x /dev/null -r /dev/null -rf gray -o - \
 | gst-launch-1.0 fdsrc \
 ! h264parse \
 ! video/x-h264,stream-format=byte-stream,alignment=au \
 ! rtph264pay name=pay0 pt=96 config-interval=1 \
 ! udpsink host=127.0.0.1 port=5610 &
 sleep 10
 gst-launch-1.0 shmsrc socket-path=/tmp/camera3 do-timestamp=true \
 ! video/x-raw, format=BGR, width=640, height=480, framerate=30/1, colorimetry=1:1:5:1 \
 ! v4l2h264enc extra-controls="controls,video_bitrate=3000000;" \
 ! rtph264pay name=pay0 pt=96 config-interval=1 \
 ! udpsink host=127.0.0.1 port=5600 &
 ...
groundpi.sh
 ...
 /home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 6 -c 127.0.0.1 -u 5600 wlan1 &
 /home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 5610 wlan1 &
 ...
 gst-launch-1.0 udpsrc port=5600 \
 ! tee name=streams \
 ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
 ! udpsink host=127.0.0.1 port=5620 streams. \
 ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \
 ! application/x-rtp, encoding-name=H264,payload=96 \
 ! rtph264depay \
 ! video/x-h264,stream-format=byte-stream \
 ! fdsink | /home/pi/wifibroadcast_osd/fpv_video/fpv_video &
 ...
 /home/pi/gst-rtsp-server-1.14.4/examples/.libs/test-launch \
 "udpsrc port=5610 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \
 "udpsrc port=5600 do-timestamp=true ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" &
 ...
Explorer/RaspberryPi/Visualprocessing