Tuesday 15 January 2019

TK1 with APM Planner

Exploring the modified TK1 a little more today, here are the system specs

Updating to 16.04 it also seems to successfully update the correct GPU drivers for the Jetson TK1 (GK20A). It's really nice to be able to have this update, even though it is a 32-bit system, I can still make use of it.  For example, previously on the Nvidia Jetson TK1 14.04 I was not able to install APM Planner for controlling my drone, plane or robot vehicle. Now however it seems to install just fine.

Be aware that this is APM Planner for ARMv7

Installation was as follows:
1) On your TK1 download the APM Planner software here
2) cd home/ubuntu/downloads
3) sudo dpkg -i apm_planner_2.0.26_xenial_armhf.deb
4) sudo apt-get -f install
5) sudo dpkg -i apm_planner_2.0.26_xenial_armhf.deb

APM Planner should how up in your software now, and run just fine. There is more information here about installation.

I have a wireless joystick 

and APM Planner allows use of gamepad controllers all you have to do is enable it under File>Joystick

Connecting the Gamesir gamepad involves removing the wireless usb dongle and plugging into the TK1. Turn on the gamesir controller and voila

We can now control the throttle, yaw, pitch, roll, flight mode once connected to our vehicle. I like having no wires from the gamepad to the computer. 

Now to program an autonomous flight and trigger a response to a detected object.

Using the modified Jetson TK1 we can have access to a range of devices such as ai using a Movidius/Intel Neural Compute Stick, or RPLidar for SLAM gps-free navigation. I couldn't utilise these on-vehicle devices before but now I can.

Thanks for reading.

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