robin

The ROS Offboard Integration for Naze32-based flight controllers.

Documentation

Additional documentation on features, interfacing, and packaged tools, please check here (/documents/README.md).

Flashing Pre-Compiled Releases

Pre-compiled releases can be found in Releases section. Make sure to get the correct release revision for your board model.

A binary of stm32flash can be found on the official repository. Download and extract stm32flash.exe to a folder of your choice.

You can not only pass the version flag in the command line, but you can also pass the serial parameters to use as well:

make flash SERIAL_DEVICE=/dev/ttyACM0 SERIAL_BAUD=57600 NAZE32_REV=5

Flashing the Naze32

Before you can flash the the Naze32, you must first put it into bootloader mode. For the initial flash, you must connect the bootloader pins while powering on the device. The location of the boot pins is detailed here.

Depending on your version of stm32flash, you may have to call the flash command multiple times before the flashing will actually start. If the flash is not successful, try using a slower baud rate, such as 115200. Another common problem is that stm32flash sometimes misses the initializer message from the autopilot if plugged in via USB, or it gets confused by other data in the serial buffer. The best work around for this is to do the following:

• Unplug and unpower the autopilot completely
• Plug a USB-Serial adaptor into your computer
• Connect the USB-Serial Tx/Rx to the autopilot
• Power on the autopilot directly into bootloader mode

Use the following commands to flash the firmware to your flight controller. You will need to replace the filename (robin_naze32_revX.hex) and device name (/dev/ttyUSBX or COMX) with the correct options for your setup.

Flashing (Linux)

stm32flash -w robin_naze32_revX.hex -v -g 0x0 -b 921600 /dev/ttyUSBX

Flashing (Windows)

Copy the firmware to the same folder as the one where you extracted stm32flash.exe. You can then Shift+Right Click and select Open Command Prompt Here.

In the command prompt, run the following:

./stm32flash.exe -w robin_naze32_revX.hex -v -g 0x0 -b 921600 COMX

Working with the Source Code

Preperation

Linux - Ubuntu

sudo apt install gcc-arm-none-eabi  stm32flash python3-yaml
mkdir -p ~/src
cd ~/src
git clone --recursive https://github.com/qutas/robin/

Linux - Arch

sudo pacman -S arm-none-eabi-gcc arm-none-eabi-newlib python-yaml

You'll also need to get the stm32flash package from the AUR or compile it manually

mkdir -p ~/src
cd ~/src
git clone --recursive https://github.com/qutas/robin/

Windows

Compiling the source code is not currently possible on Windows, however it is still possible to flash the precompiled firmware.

Compiling

cd ~/src/robin
make posix_udp

To compile for a differennt build target, such as naze32_rev5 or naze32_rev6, simply specify this instead:

make naze32_rev5

You can list all primary build targets with the following command:

make list_targets

Flashing using the Makefile

The makefile assumes that the device is connected as /dev/ttyUSB0 and will use a baud rate of 921600. You may have to adjust these to suit your device.

Once in bootloader mode run the following command:

make naze32_rev5_flash SERIAL_DEVICE=/dev/ttyACM0 SERIAL_BAUD=57600

After the initial flash, you can use the MAVLINK command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN to put the device into bootloader mode through the software. Additionally, the following command will attempt to send this directly from the CLI (but requires pymavlink to be installed):

make naze32_rev5_reflash