Connection to Navio/Rpi4 to Mission planner using SSH

[Fnoox]

Hello, I have configured my Rpi4 using the emlid documentation (Installation and running | Navio2).
I am stuck on the link between Ardupilot Mission Planner and the Navio2.

I am using window 10, emlid-raspbian-20220608 image and Mission planner 1.3.81.

I connect to the Rpi4 using PuTTY software and SSH connection on the 22 port.
Connection to Rpi4 through SSH is working fine.
In the Rpi4 after entered the command " sudo nano /etc/default/arducopter"
I changed the line TELEM1 like this
TELEM1=“-A UDP:192.0.0.0:14550” with the IP adress of my laptop.
I saved it using ctrl+X and Y and I rebooted the card.

Then in Mission planner I select UDP, press connect and when asked “Enter Local port” I enter “22”.
The window Connecting to Mavlink is then stuck on a loop.

How can I solve this ?

[olesia.riman]

Hi @Fnoox,

Welcome to the forum!

@Fnoox

Then in Mission planner I select UDP, press connect and when asked “Enter Local port” I enter “22”.

You need to use the port from the configuration file. It should be 14550.

If it does not work, you can try using another port since the port 14550 might be occupied. You need to use the same port both in the configuration file and during the connection to Mission Planner.

[Fnoox]

I have updated the card and I can connect to ardupilot but in the correct way I think.

Here is how I do it :

cd arducopter  
sudo /home/pi/ardupilot/build/navio2/bin/arducopter -A udp:<IP_OF_MY_ PC>:14550  

Then when I open Mission planner it connects automatically on UDP14550-1-QUADROTOR. I have access to telemetry info and can caliber the accel and compass.
If I disconnect to dowload the firmware (which also doesnt’t work : Failed to detect port to upload to (Unkwon VID/PID or Board String)).
I can’t reconnect through mission planner.

I also try to plug a usb cable on the Rpi4 and an ethernet cable but my PC doesn’t seem to recognized the board.

What can I do next ?

[mlebret (Marc Lebret)]

@Fnoox

If I disconnect to dowload the firmware (which also doesnt’t work : Failed to detect port to upload to (Unkwon VID/PID or Board String)).

Hello,

You cannot update firmware with Mission Planner. You have to do it with SSH.

Here is a dump of an update session. Some directories may have changed name but it is the way to do it.

Connect via SSH, locate the arducopter directory, rename the old file, download the latest from ardupilot.org

Change ownership, save a backup, and run it.

pi@navio:~ $ cd /opt/ardupilot/navio2/arducopter-4.0/bin/
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ ls -l
total 4020
-rwxrwxr-x 1 root root 2184746 Aug 28 10:49 arducopter
-rwxrwxr-x 1 root root 1926268 Aug 28 10:49 arducopter-heli
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ sudo mv arducopter arducopter403
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ ls -l
total 4020
-rwxrwxr-x 1 root root 2184746 Aug 28 10:49 arducopter403
-rwxrwxr-x 1 root root 1926268 Aug 28 10:49 arducopter-heli
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ sudo wget http://firmware.ardupilot.org/Copter/stable/navio2/arducopter
–2021-01-28 17:07:15-- http://firmware.ardupilot.org/Copter/stable/navio2/arducopter
Resolving firmware.ardupilot.org (firmware.ardupilot.org)… 159.65.186.182
Connecting to firmware.ardupilot.org (firmware.ardupilot.org)|159.65.186.182|:80… connected.
HTTP request sent, awaiting response… 301 Moved Permanently
Location: https://firmware.ardupilot.org/Copter/stable/navio2/arducopter [following]
–2021-01-28 17:07:15-- https://firmware.ardupilot.org/Copter/stable/navio2/arducopter
Connecting to firmware.ardupilot.org (firmware.ardupilot.org)|159.65.186.182|:443… connected.
HTTP request sent, awaiting response… 200 OK
Length: 1989648 (1.9M)
Saving to: ‘arducopter’

arducopter 100%[===================>] 1.90M 934KB/s in 2.1s

2021-01-28 17:07:18 (934 KB/s) - ‘arducopter’ saved [1989648/1989648]

pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ sudo chmod +x arducopter
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ ls -l
total 5964
-rwxr-xr-x 1 root root 1989648 Jan 26 07:11 arducopter
-rwxrwxr-x 1 root root 2184746 Aug 28 10:49 arducopter403
-rwxrwxr-x 1 root root 1926268 Aug 28 10:49 arducopter-heli
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ sudo cp arducopter arducopter406
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ ls -l
total 7908
-rwxr-xr-x 1 root root 1989648 Jan 26 07:11 arducopter
-rwxrwxr-x 1 root root 2184746 Aug 28 10:49 arducopter403
-rwxr-xr-x 1 root root 1989648 Jan 28 17:08 arducopter406
-rwxrwxr-x 1 root root 1926268 Aug 28 10:49 arducopter-heli
pi@navio:/opt/ardupilot/navio2/arducopter-4.0/bin $ sudo reboot
Connection to navio closed by remote host.
Connection to navio closed.

[Fnoox]

hello again,

Here are my latest avancement on this projet :
I have done the compass calibration again but I don’t know if I made it correctly as when I reboot the board and reconnect in mission planner(ver 1.3.81) there is no change on the tab.

I have done the radio calibration using a xbox game controller, here are the info

Lastly I tried to calibrate the ESC. Which is a 4in1 Esc (F55A PRO II). Connected as it follows :

I struggle to calibrate it as when I disconnect the battery and reconnect it I have to reconnect through ssh to mission planner to get controller info, in this case max throttle. Am I doing something in the wrong order ?

[mlebret (Marc Lebret)]

@Fnoox

I struggle to calibrate it as when I disconnect the battery and reconnect it I have to reconnect through ssh to mission planner to get controller info, in this case max throttle. Am I doing something in the wrong order ?

Do a “Semi Automatic ESC-by-ESC Calibration” https://ardupilot.org/copter/docs/esc-calibration.html

@Fnoox

I have done the compass calibration again but I don’t know if I made it correctly as when I reboot the board and reconnect in mission planner(ver 1.3.81) there is no change on the tab.

You can assume Compass calibration is correct (Ready to Arm message)