DRover-Software

Codebase for NUAV's DRover project in conjunction with NURover

Setup

To set up the repo and install needed dependancies, we use setup.py as follows

pip install -e .

This allows us to reference the drover package from wherever we want! It also installs drover_main.py as a new terminal command which is neat.

Quick Module Explainer

The drover folder is set up in the format of a python module and includes __init__.py files etc (python module reference). When a packages is imported in a relative manner, you will see a period in front of its name (ex import .camera).

Creating a service on the RPi

We want to run drover_startup.sh on boot, so we shall create a unix service. On DRover I actually discarded using mavproxy here as it takes a good chunk of CPU

1. Create file /etc/systemd/system//drover.service with the following:

[Unit]
Description=Drover service.

[Service]
Type=simple
User=pi
Group=pi
ExecStart=/bin/bash /home/pi/.local/bin/drover_startup.sh

[Install]
WantedBy=multi-user.target

1. Reload stuff with systemctl daemon-reload
2. Enable it: systemctl enable drover.service Also of usefulness:

• systemctl restart drover.service
• systemctl status drover.service
• Setup for neopixels