nyuuzyou/wikis huggingface dataset:
Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation

Improve latency and CPU usage by removing filter "VIDEOCONVERT" and using v4l2h264enc instead of omxh264enc
 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 &
TO BE UPDATED
 #include <opencv2/opencv.hpp>
 #define WIDTH 640
 #define HEIGHT 480
 #define FPS 30
 #define SCALE 3/2
 
 using namespace cv;
 using namespace std;
 int main(int, char**)
 {
 unsigned int dataSize = sizeof(unsigned char)*WIDTH*HEIGHT*SCALE;
 Mat imageIn(WIDTH*SCALE, HEIGHT, CV_8UC1);
 Mat imageOut(WIDTH,HEIGHT,CV_8UC3,Scalar(0,0,0));
 //cout << getBuildInformation() << endl;
 
 string streamInGstStr="shmsrc socket-path=/tmp/camera2 ! video/x-raw,width="+to_string(WIDTH)+
 ",height="+to_string(HEIGHT)+",framerate="+to_string(FPS)+"/1,format=I420 ! appsink sync=true";
 string streamOutGstStr="appsrc ! shmsink socket-path=/tmp/camera3 wait-for-connection=false async=false sync=false";
 
 VideoCapture streamIn(streamInGstStr,CAP_GSTREAMER);
 VideoWriter streamOut(streamOutGstStr,0,FPS/1,Size(WIDTH,HEIGHT),true); 
 
 if (streamIn.isOpened() && streamOut.isOpened()) {
 while (true) {
 streamIn.read(imageIn);
 if (!imageIn.empty()) {
 memcpy(imageOut.data,imageIn.data,dataSize);
 streamOut.write(imageOut);
 }
 }
 }
 return 0;
 }
 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 &
 sleep 1
 ~/opencv_test/test &
 sleep 1
 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/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false
Explorer/RaspberryPi/Wifibroadcast

The software installation should be done on board (Airpi) and ground (Groundpi) RaspberryPi
 sudo apt-get install libpcap-dev libsodium-dev -y
 git clone https://github.com/svpcom/wifibroadcast
 mv wifibroadcast wifibroadcast-svpcom 
 cd wifibroadcast-svpcom
 make
Don't worry with error (/bin/sh: 1: trial: not found make: *** [Makefile:43: test] Error 127)
The Wifibroadcast build process, generates two files used to encrypt transmitted data:
drone.key & gs.key, must be the same on Airpi and Groundpi.
 cd /opt/vc/src/hello_pi/libs/ilclient
 make
 cd
 git clone https://github.com/svpcom/wifibroadcast_osd.git
 cd wifibroadcast_osd/fpv_video
 make
 
* Airpi and GroundPi
 /etc/wpa_supplicant/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
 }
 "
For maintenance purpose: 
* wlan0 should be enable (#denyinterfaces wlan0) to connect through hotspot
* wlan0 should can be disable (denyinterfaces wlan0) if the Groundpi can be connected with ethernet
* wlan1 should be disable (denyinterfaces wlan1) to be used by wifibroadcast
 /etc/dhcpcd.conf
 "
 #denyinterfaces wlan0
 denyinterfaces wlan1
 "
 "
 denyinterfaces wlan0
 denyinterfaces wlan1
 "
 /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
 "
 /etc/rc.local
 "su root -c /home/pi/wfbnet.sh &"
 /home/pi/wfbnet.sh
 chmod ugo+xwr /home/pi/wfbnet.sh
 "
 #!/bin/bash
 ifconfig wlan1 down
 sleep 1
 iw dev wlan1 set monitor otherbss
 iw reg set DE
 ifconfig wlan1 up
 iw dev wlan1 set channel 36
 iw dev wlan1_DEV set txpower fixed 4000
 #iw wlan1 info
 "
 
* Airpi
UDP packet received on port 5600 are send to wlan1 (wifibroadcast) using channel 1
 /home/pi/wfbnet.sh
 " 
 /home/pi/wifibroadcast-svpcom/wfb_tx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -u 5600 wlan1
 "
* Groundpi
Data received on wlan1 (wifibroadcast) and channel 1 are UDP send locally on port 6500
 /home/pi/wfbnet.sh
 "
 /home/pi/wifibroadcast-svpcom/wfb_rx -K /home/pi/wifibroadcast-svpcom/drone.key -p 1 -c 127.0.0.1 -u 6500 wlan1
 "
Explorer/RaspberryPi/Wifibroadcast/Integration
Explorer/RaspberryPi/Wifibroadcast/Equipements

Wifibroadcast have been checked with wifi adapters chips:
* Ralink RT5572
* Realtek RTL8812AU
Ground and board transciever can be mixed.
While the RT5572 driver (rt2800lib/usb) is fully operational on the raspbian buster, the RTL8812AU driver (88XXau) need to be compiled
 
 sudo apt-get install raspberrypi-kernel-headers
 git clone https://github.com/aircrack-ng/rtl8812au
 cd rtl8812au
 sed -i 's/CONFIG_PLATFORM_I386_PC = y/CONFIG_PLATFORM_I386_PC = n/g' Makefile
 sed -i 's/CONFIG_PLATFORM_ARM64_RPI = n/CONFIG_PLATFORM_ARM64_RPI = y/g' Makefile
 export ARCH=arm
 sed -i 's/^MAKE="/MAKE="ARCH=arm\ /' dkms.conf
 make 
 sudo make install
 
create file with your MAC address 
(keep wlan0 for the RPI wifi chip, and wlan1 for the external wifi adpater)
/etc/udev/rules.d/76-netnames.rules
 SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="b8:27:eb:be:ba:55", NAME="wlan0"
 SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="00:13:ef:f2:18:98", NAME="wlan1"
 
Explorer_RaspiZero_RT5572_open.jpg
Explorer_RaspiZero_RT5572_close.jpg
Explorer_Raspi_RT5572.jpg
Explorer_Raspi_Apogee_RT5572.jpg
Explorer_Raspi_Apogee_HDMI_ETH.jpg
Explorer_RT5572_RTL8812AU_AC1200.jpg
Explorer_RT5572_RTL8812AU_AC1200_open.jpg
Explorer_RT5572_RTL8812AU_AC1200_zoom.jpg
Explorer_RTL8812AU_AC1200_ALFA.jpg
Explorer/RaspberryPi
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File logger

=When you can use the file logger module=
The file logger module can be used if you have a Linux based OS with access internal storage space on your autopilot. 
This is for instance the case with most drones from Parrot, such as the Bebop.
Therefore, in the rest of this page, the Bebop will be taken as an example.
=Logging Data on the Parrot Bebop=
Logging data onboard on the Bebop is pretty straight forward. 
The Bebop drone is equipped with onboard storage, which we use to store the logs. 
Step 1:
First, open your airframe.xml file (for example in paparazzi/conf/airframes/TUDELFT/ ). Make sure that under modules, the following lines are uncommented or included:
 
 <modules main_freq="512">
 <module name="logger_file">
 <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
 </module>
 </modules>
Step 2:
In your logger file include the headers within paparazzi which contain the variables which you would like to log. This is done in the logger c file in paparazzi/sw/airborne/modules/loggers/file_logger.c . In this case I want to log data from stabilization_indi.c , so the following header should be included:
 
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
In the file file_logger.c you can specify which variables you want to have logged in the same fashion as normal "printf's" would work. The variable names and the variable types (float, int etc.) have to be specified.
Step 3:
Start and stop the file logger by going to the paparazzi ground control station. Then go to > Settings > Modules. Here you can start and stop a log. This is displayed in the picture below:
Step 4:
First, make sure that your Parrot Bebop is on, and connected. Now the logged .csv files can be retrieved from the Bebop. This is done by opening a browser, and typing ftp://196.168.42.1/ in the navigation line. This will take you to the ftp folder on the Bebop. Browse to /Internal000/ . Here we can find the .csv files, named 00000.csv to 0000X.csv depending on the flights you logged. Copy the files to your computer for analysis.
Fire-Storm

The new Storm Frame is designed according to Solar-Storm's flight conditions and for a long endurance flight. Unfortunately the EMAV09 Outdoor Endurance Mission has simulated by the number of laps that is completed between 2 poles 500m apart from each other, so the design is converted to a long range MAV by optimizing battery weight to total weight ratio and flight speed while staying at the optimum L/D point of the airframe. Finally Fire-Storm has born.
==Latest News==
*September 2011 : Fire Storm won the "Best Outdoor Endurance" award by demonstrating 105+ minutes of flight in IMAV 2011 competition in 't Harde. This is an official proof of its performance.
== Specifications ==
*Span: 500 mm
*Weight: 400 g (current configuration)
== Performances ==
Fire-Storm has not been tested for its designed total weight yet. However the light version (2x1320mAh LiPo batteries) is already capable of :
*Endurance: 100 minutes
*Range: 96 km
Note: These numbers are taken from the actual flight tests in August in Toulouse. (with an 8m/s average wind)
For any futher information please contact : Murat BRONZ
Category:Airframes