Manually managing maps
How the edge computer's networking is configured can make it much more difficult to plug in and connect to edge computer with Vozilla. In cases where it is more convenient to directly edit files on the edge computer's storage device, this guide can help.
Downloading a map with Vozilla
Once you have the desired map downloaded on Vozilla, you can click "More map options" --> "Export map package" to save the map as a .tar.gz .
The last step before uploading to the edge device is extracting the archive. If you are using linux, you can simply run tar -xvzf filename.tar.gz to extract the map archive. You should be left with a map folder named filename . If you are using windows, it is easiest to download a tool like 7-zip to extract the archive.
Uploading to the edge device
Take the storage device out of the edge device (most likely an SD card, but you can also do this with an NVME) and plug it into your computer with the map.
When you attach the drive to your computer you will see a rootfs or writeable and a bootfs or system-boot partition. rootfs will allow you to edit the filesystem of the edge device directly. Mount rootfs and search for /usr/etc/vns-sdk/config.local.yaml within it. The contents of that file will tell you where you should place the map.
In the case of this device, the map belongs in /home/pi/recordings/maps . If there is not already a maps folder there on the drive, create one. Then copy the map to that location. Once the extracted map is in the maps folder, the last step is setting it as the active map and updating the home position.
Setting the active map & updating home position
The active map is set using a symlink link to the map folder. I can view the current active map by looking at this symlink. Since my drive is called writable the symlink would be at writable/opt/vns-sdk/maps .
Set the active map with the following command. Ensure that you have the correct path to the map, relative to the edge device's root.
To update the home position, edit /usr/etc/vns-sdk/initial-fix.conf directly. You will need to know the latitude, longitude, and altitude of your launch position.
Last updated