OpenHDMicroservice

This code is intended to act as a Mavlink "microservice", using very little system resources and depending only on external libraries it actually needs to function.

Note: currently the power microservice is the only one ready to be used, and only for lifepowered/pi power sensors (there's no configuration for in219 yet).

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Dependencies

For testing on Open.HD images:

Only install the Raspbian packages listed below, the lifepoweredpi library and mavlink-routerd are already included in recent Open.HD releases.

For Raspbian:

apt install build-essential git python libboost-dev libboost-program-options-dev libboost-system-dev libasio-dev

git clone https://github.com/xorbit/LiFePO4wered-Pi.git

cd LiFePO4wered-Pi

./build.py

sudo ./INSTALL.sh

sudo cp lifepowered-data.h /usr/local/include/

git clone https://github.com/intel/mavlink-router.git

cd mavlink-router

git submodule update --init --recursive

sudo ./autogen.sh && sudo ./configure CFLAGS='-g -O2' \
    --sysconfdir=/etc --localstatedir=/var --libdir=/usr/local/lib64 \
    --prefix=/usr/local 

sudo make install

The ina219 driver is included in this repo and requires no setup or installation.

A fork of the Mavlink library with custom messages and commands for OpenHD (not finalized, they're subject to change at any time) is included in this repo as a submodule, however the generated Mavlink headers are also included directly in the repo so you don't need to rebuild them.

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Build

git clone https://github.com/OpenHD/OpenHDMicroservice.git
cd OpenHDMicroservice
git submodule update --init
sudo make install

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Use

Make sure mavlink-routerd is running first.

There's a systemd service file for starting the various microservices, which will use the system ID specified in /etc/openhd/microservice.conf:

systemctl start openhd_microservice@power

Or:

systemctl start openhd_microservice@gpio

Or:

systemctl start openhd_microservice@camera

You can also run them directly for testing:

openhd_microservice --power --sysid 253

That will start the power sensor microservice using system ID 253 (should be different on ground/air/GCS/autopilot).

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Available microservices

Currently there are three: power sensor, camera, and GPIO microservices.

Only the power sensor microservice is fully functional

Power sensor microservice

Provides power sensor readings, intended to be used to monitor ground station power supply.

Currently LifePO4wered/Pi support is the default, but ina219 support is already in the source code and will be enabled soon.

Camera microservice

Currently just used as a demo of custom Mavlink commands (changing brightness and other settings live), but will be expanded to support retrieving h264 bytestream from the camera and sending the data to stdout for tx_rawsock to use.

GPIO microservice

Code for this isn't finished yet, but will allow reading high/low state and toggling GPIOs on the ground or air pi, for whatever purpose you can think of.