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Using Raspberry Pi Imager, flash the Raspberry Pi OS compatible with Raspberry Pi 5 (Recommended: Rasperry Pi OS (Debian Bookworm) Full 32-bit with Desktop Environment and Recommended applications) on a SD Card (Recommended: Class 10 32GB Micro SD Card).
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Access the Raspberry Pi through Wi-Fi via SSH
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Set up serial connection and type the following in SSH:
sudo raspi-config
- Change the folowing settings:
a) Go to interface settings
b) Enable SSH
c) Enable VNC
d) Go to serial
e) When prompted, select no to 'Would you like a login shell to be accessible over serial?'
f) When prompted, select yes to 'Would you like the serial port hardware to be enabled?'.
g) Reboot the Raspberry Pi using sudo reboot when you are done.
h) The Raspberry Pi’s serial port will now be usable on /dev/ttyAMA0.
- Run the following commands:
(Some of these dependencies come pre-installed with the Debian Bookworm OS. In such cases, you will get a message saying Requirement already satisfied)
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install python3-pip
sudo apt-get install python-dev
sudo apt-get install screen
sudo apt-get install python-wxgtk4.*
sudo apt-get install libxml2-dev
sudo apt-get install libxslt1-dev
- Create a virtual environment to install Python packages:
python3 -m venv myDrone
source myDrone/bin/activate
- Install required Python packages:
(picamera2 library is required in Debian Bookworm if you are using a Raspberry Pi Camera)
pip install future
pip install lxml
pip install picamera2
pip install pyserial
pip install dronekit
pip install geopy
pip install MAVProxy
If the second set of installations are throwing an error repeatedly, try the following command:
pip cache purge
pip install pyserial dronekit geopy MAVProxy --index-url https://pypi.org/simple
- Install OpenCV within the virtual environment:
sudo apt-get install python3-opencv
- Check OpenCV installation:
pi@raspberrypi:- $ python3
Python 3.12.3 (tags/v3.12.3:f6650f9, Apr 9 2024, 14:05:25) [MSC v.1938 64 bit (AMD64)] on win32
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
The cv2 module should be imported into Python without any errors. This indicates that OpenCV module is correctly installed. If any error like ImportError: numpy.core.multiarray failed to import is generated, run the following command within the virtual environment:
pip uninstall numpy
If you want to activate the virtual environment everytime the terminal is opened, go to nano ~/.bashrc and add the following line at the end:
source ~/myDrone/bin/activate
Save the file and exit the text editor (in nano, you do this by pressing CTRL + X, then Y, and Enter).
To apply the changes immediately without needing to restart the terminal, run:
source ~/.bashrc
To deactivate the virtual environment when not required, run:
deactivate
- Set following parameters in PixHawk through Mission Planner:
SERIAL2_PROTOCOL = 2
SERIAL2_BAUD = 921
LOG_BACKEND_TYPE = 3
- Connect PixHawk and Raspberry Pi as shown in the figure:
- Power the Raspberry Pi using BEC module. Make sure that the power supply used is atleast 5V/3A (Recommended: 5V/5A (25 W to 27W)). Power supply less than 5V/3A may cause performance issues or the Pi may end up abruptly crashing or shutting down.
a) Check port
ls /dev/ttyAMA0
b) Add the following two lines at bottom of file sudo nano /boot/firmware/config.txt :
enable_uart=1
dtoverlay=disable-bt
Save the file and exit the text editor (in nano, you do this by pressing CTRL + X, then Y, and Enter).
- Now type the following to get the telemetry data of Pixhawk:
mavproxy.py --master=/dev/ttyAMA0 --baudrate 921600
- Type the following if you want telemetry data to be displayed in Mission Planner:
mavproxy.py --master=/dev/serial0 --baudrate 921600 --out udp:127.0.0.1:14552
/*Here,
'127.0.0.1' Your PC's IP Adress, Obtained by typing 'ipconfig' in command prompt
'14552' is the port to which you need to connect to mission planner using UDP
*/