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MAVProxy

  • 2015-11-07 04:35:28 +0000

    Installing MAVProxy on Mac ./
    Installing MAVProxy on Mac

    Install latest version of python

    brew install python

    Install opencv

    brew tap homebrew/science
brew install opencv

    You need to link cv2.so to cv.so in order for python to use opencv.

    ln -s /usr/local/lib/python2.7/site-packages/cv2.so /usr/local/lib/python2.7/site-packages/cv.so

    http://stackoverflow.com/questions/19155603/can-opencv-be-installed-in-python-virtualenv-on-mac-mountain-lion

    Also link libjpeg so that mavproxy can find it.

    ln -s /usr/local/Cellar/jpeg/8d/lib/libjpeg.8.dylib /usr/local/lib/libjpeg.8.dylib

    Install wxPython

    Download and install cocoa version from http://www.wxpython.org/download.php Or use pip to install

    Install pip packages

    pip install pyinstaller 
pip install matplotlib 
pip install pyreadline 
pip install pyserial 
pip install pymavlink
pip install numpy
pip install pyparsing
pip install pillow
or
brew intsall Pillow

    lxml needs extra flags, so start bash and set it before compiling and installing native extensions. ref: http://lxml.de/installation.html

    ARCHFLAGS="-arch i386 -arch x86_64" CFLAGS=-I/usr/local/include/lzma STATIC_DEPS=true pip install lxml

    *NOTE: Above doesn’t seem to be working! easy_install lxml doesn’t work either. It’s only needed for xml parsing used by param help in mavproxy prompt, so ignore for now.

    Fix and install pymavlink

    git clone https://github.com/mavlink/mavlink.git
cd mavlink/pymavlink

    Fix the build script

    vim setup.py

    if platform.system() == 'Darwin':
    os.environ["ARCHFLAGS"] = "-arch i386 -arch x86_64"

    build mavnative.o

    python setup.py build
python setup.py intsall
lipo -info /usr/local/lib/python2.7/site-packages/mavnative.so
# Above command should return:
# Architectures in the fat file: /usr/local/lib/python2.7/site-packages/mavnative.so are: i386 x86_64

    Install MAVProxy

    pip install mavproxy
rehash

    Run MAVProxy

    Auto detect when there’s only one APM

    mavproxy.py

    OR

    mavproxy.py --master=127.0.0.1:14550

    OR

    mavproxy.py --master=/dev/tty.usbmodem1

    To get the param help working, download the following file into ~/.mavproxy/ and rename it as ~/.mavproxy/ArduCopter.xml

    http://autotest.diydrones.com/Parameters/ArduCopter/apm.pdef.xml

    Example commands

    motortest 1 0 50 10

    Will issue the following command

    MAV_CMD_DO_MOTOR_TEST:
    // param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
    // param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
    // param3 : throttle (range depends upon param2)
    // param4 : timeout (in seconds)

    Calibration

    accelcal
calpress
compassmot
level
ground

# the following is not working...
module load rcsetup
rccal start
rccal stop

    Loading extra modules

    module load <module name>

    List of modules

    https://github.com/Dronecode/MAVProxy/tree/master/MAVProxy/modules

    Building from source and modifying

    pip intall setuptools
curl https://bootstrap.pypa.io/ez_setup.py -o - | python

# Don't do this, use --prefix= option instead
# http://stackoverflow.com/questions/4495120/combine-user-with-prefix-error-with-setup-py-install
#vim ~/.pydistutils.cfg
#[install]
#prefix=

git clone https://github.com/Dronecode/MAVProxy.git

## After modifying python source files, run the following to install MAVProxy and test.
python setup.py build install --user --prefix=

    Reference:

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