Drone setup

Follow these step-by-step instructions to properly setup the CogniFly drone from zero.

Flight controller configuration

dfu

This will disconnect the flight controller and restart it in DFU mode.

open the firmware flasher tab
make sure full chip erase is selected
click load firmware [local]
select the cognifly framework file previously downloaded (.hex file)
click flash firmware and wait for completion
connect to the flight controller, select keep defaults, let it reboot, connect again
open the CLI tab and select load from file
navigate to the cognifly configuration file previously downloaded (.txt file)
click execute and wait for completion
- (NB: check for errors in the logs and ensure the whole .txt has been processed)
enter the following command:

save

This will reboot the flight controller.

connect to the flight controller again
in the setup tab, check that everything is green
(optional) go to the calibration tab and follow the calibration instructions
go to the mixer tab and follow the inav instructions to configure the 4 motors properly
disconnect from the flight controller

The easiest way of using cognifly-python is to flash our readily set up Rasbian image on your SD card.

download the Cognifly Raspbian image
extract the archive
you should now see the extracted file named cognifly.img
flash cognifly.img on your SD card (e.g., using Win32 Disk Imager on Windows, or dd on Linux)
in the now flashed SD card, configure wpa-supplicant so the drone connects to your router:
- edit the /rootfs/etc/wpa_supplicant/wpa_supplicant.conf file (on linux, this may require sudo)
  - adapt the following to your WiFi network in the wpa_supplicant.conf file:
```
network={
        ssid="yourNetworkSSID"
        psk="yourNetworkPassword"
        scan_ssid=1
}
```
change the name of the drone:
- edit the /rootfs/etc/hostname file
  - replace the default K00 by your drone name
- edit the /rootfs/etc/hosts file
  - replace the default K00 in the last line by your drone name
plug the SD card into the Raspberry Pi
plug a charged battery to start the drone
password for the user pi: maplesyrup

(Note: if using the Raspbian image, you can ignore this section.)

In case you wish to install the library on your own Raspbian:

(Note: You can use Raspberry Pi Imager to install raspbian, which provides a GUI to skip most of the following.)

The SD card should now have two partitions: boot and rootfs

configure SSH access:
- create an empty file named ssh at the root of the /boot/ partition
configure wpa-supplicant so the drone connects to your router:
- edit the /rootfs/etc/wpa_supplicant/wpa_supplicant.conf file (on linux, this may require sudo)
  - adapt the following and add it to the end of the wpa_supplicant.conf file:
```
network={
        ssid="yourNetworkSSID"
        psk="yourNetworkPassword"
        scan_ssid=1
}
```
change the name of the drone:
- edit the /rootfs/etc/hostname file
  - replace the default raspberrypi by your drone name
- edit the /rootfs/etc/hosts file
  - replace the default raspberrypi in the last line by your drone name
enable the pi camera and the UART serial port:
- edit the /boot/config.txt file
  - under the [all] section, set the following lines:
```
enable_uart=1 # serial port
start_x=1 # camera
gpu_mem=128 # camera
```
disable the console messages in the serial port:
- edit the /boot/cmdline.txt file
  - if you see console=serial0,115200, remove this command
plug the SD card into the Raspberry Pi
plug a charged battery to start the drone
wait for the Raspberry PI to boot (the light should stop blinking)
ssh the drone from your computer (the default password should be raspberry):
```
ssh pi@myDroneName.local
```

execute the following on the Raspberry Pi:

sudo apt-get update
sudo apt-get install libatlas-base-dev libopenjp2-7 libtiff5 python3-pip

You can now install the cognifly-python library on the drone.