Setup required hardware

Cyclops requires a drive to store maps and recordings, a camera, and a connection to the flight controller. We will walk through each of those and ensure they are properly setup.

4KB

setup-storage-mount.sh

Open

7KB

setup-usb-camera.sh

Open

3KB

setup-waveshare-serial.sh

Open

Download the above scripts onto the device.

pi@pi5:~$ ls Downloads/
setup-storage-mount.sh setup-usb-camera.sh setup-waveshare-serial.sh

Verify your recording drive

This tutorial on mounting a drive on linux will work with a PCIE NVME drive or a USB SSD.

We also provide a script to setup a USB SSD drive above.

You may pick any name, I am using a Samsung T9 SSD, so I call it /t9

pi@pi5:~$ sudo Downloads/setup-storage-mount.sh /dev/sda2 /mnt/t9
Device: /dev/sda2
UUID: C443-4727
Filesystem: exfat
Mount point: /mnt/t9

Creating systemd mount unit: mnt-t9.mount
Created symlink /etc/systemd/system/multi-user.target.wants/mnt-t9.mount → /etc/systemd/system
/mnt-t9.mount.
Creating udev rule for auto-mount on plug: /etc/udev/rules.d/99-auto-mount-C443-4727.rules
Mounting...

✓ Successfully mounted /dev/sda2 to /mnt/t9

Verify that the drive is mounted:

Verify your USB Camera

pi@pi5:~$ sudo Downloads/setup-usb-camera.sh
═══════════════════════════════════════════════════════════
  USB Camera Setup for VNS-SDK
═══════════════════════════════════════════════════════════

[1/5] Installing V4L2 utilities...
...
[4/5] Checking permissions...
  ✓ User 'pi' is in 'video' group

[5/5] Verifying camera functionality...
  Testing camera: /dev/video0
  ✓ Successfully captured test frame

═══════════════════════════════════════════════════════════
  Setup Complete!
═══════════════════════════════════════════════════════════

Note on pi video devices

The Pi comes with many video devices pre-configured. Your video device will likely be at /dev/video0 or /dev/video1 . The 19-37 video devices are not your camera

[3/5] Probing cameras with v4l2-ctl...
  ✓ /dev/video0: AFN_Cap video
      Resolution: 720x576
      FPS: 25.000
  ✓ /dev/video1: AFN_Cap video
  ✓ /dev/video19: rpivid
  ✓ /dev/video20: pispbe
  ✓ /dev/video21: pispbe
  ✓ /dev/video22: pispbe
  ✓ /dev/video23: pispbe
  ✓ /dev/video24: pispbe [THERMAL]
  ✓ /dev/video25: pispbe [THERMAL]
  ✓ /dev/video26: pispbe [THERMAL]
  ✓ /dev/video27: pispbe [THERMAL]
  ✓ /dev/video28: pispbe
  ✓ /dev/video29: pispbe
  ✓ /dev/video30: pispbe
  ✓ /dev/video31: pispbe
  ✓ /dev/video32: pispbe
  ✓ /dev/video33: pispbe [THERMAL]
  ✓ /dev/video34: pispbe [THERMAL]
  ✓ /dev/video35: pispbe [THERMAL]
  ✓ /dev/video36: pispbe [THERMAL]
  ✓ /dev/video37: pispbe

Setup UART Serial

Your device needs to communicate with the flight controller using a serial connection.

In this tutorial we will use the Waveshare Serial Hat. You can use another serial hat, or a USB-TTL adapter. If you are using a USB-TTL adapter, you can skip this section.

Install the hat on the pi

The provided script configures the pi firmware to use the Waveshare hat

pi@pi5:~$ sudo Downloads/setup-waveshare-serial.sh
✓ Successfully added Waveshare SC16IS752 configuration to /boot/firmware/config.txt

Configuration:
  Device: SC16IS752 Dual UART with I2C
  I2C Address: 0x48
  Interrupt Pin: GPIO 24

⚠️  REBOOT REQUIRED

After reboot, the serial devices will be available as:
  /dev/ttySC0 - UART A
  /dev/ttySC1 - UART B

To reboot now: sudo reboot

If you are not using the waveshare serial hat, do not run this script, follow the instructions for your serial hat.

You will need to reboot the device.

Verify you have the serial connections

pi@pi5:~$ ls /dev/ttySC*
/dev/ttySC0  /dev/ttySC1

The serial devices will only show up if the hat is connected to the pi

If you are using a different serial hat, your device address may be different.

Note on serial connections

If you see data like:

^attey 1 below minimum arming volage`gZ;WWr"AEK3>tAP: EKF3 waiting for GPS config data
AP: EKF3 waiting for GPS config data
%!.qAP: EKF3 waiting for GPS config data
u`2RTL2t
AP: EKF3 waiting for GPS config data
?=U"]LAP: EKF3 waiting for GPS config data
go'AP: EKF3 waiting for GPS config data

Recap

We have now setup all of our hardware.

Your addresses may vary, but we have

Recording drive at /mnt/t9
Serial connections at /dev/ttySC0 and /dev/ttySC1
Video device at /dev/video0

Great job!