RB5 support

Author: stephendade

deploy/rb5-deploy.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+
+set -e
+set -x
+
+git submodule update --init --recursive
+
+## Set permissions
+sudo adduser $USER dialout
+sudo adduser $USER video
+
+## Packages
+./install_common_libraries.sh
+
+sudo apt-get install -y ca-certificates curl gnupg
+sudo mkdir -p /etc/apt/keyrings
+curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key | sudo gpg --dearmor -o /etc/apt/keyrings/nodesource.gpg
+echo "deb [signed-by=/etc/apt/keyrings/nodesource.gpg] https://deb.nodesource.com/node_20.x nodistro main" | sudo tee /etc/apt/sources.list.d/nodesource.list
+
+sudo apt update
+sudo apt install -y nodejs
+
+## Configure nmcli to not need sudo
+#sudo sed -i.bak -e '/^\[main\]/aauth-polkit=false' /etc/NetworkManager/NetworkManager.conf
+
+## Ensure nmcli can manage all network devices
+#sudo touch /etc/NetworkManager/conf.d/10-globally-managed-devices.conf
+#echo "[keyfile]" | sudo tee -a /etc/NetworkManager/conf.d/10-globally-managed-devices.conf >/dev/null
+#echo "unmanaged-devices=*,except:type:wifi,except:type:gsm,except:type:cdma,except:type:wwan,except:type:ethernet,type:vlan" | sudo tee -a /etc/NetworkManager/conf.d/10-globally-managed-devices.conf >/dev/null
+#sudo service network-manager restart
+
+## mavlink-router
+./build_mavlinkrouter.sh
+
+## and build & run Rpanion
+./build_rpanion.sh
+
+## For wireguard. Must be installed last as it messes the DNS resolutions
+sudo apt install -y resolvconf
+
+sudo reboot
+

python/gstcaps.py

@@ -17,7 +17,7 @@
 
 device_provider = Gst.DeviceProviderFactory.get_by_name("v4l2deviceprovider")
 devices = device_provider.get_devices()
-
+registry = Gst.Registry.get()
 
 # Get list of vals in cap
 def getcapval(caps):
@@ -37,6 +37,12 @@ def is_raspberry_pi():
         return False
 
 
+# Return true if running on RB5
+def is_qualcomm_rb5():
+    element = registry.find_plugin("qtiqmmfsrc")
+    return element is not None
+
+
 retDevices = []
 
 # Libcamera check, if installed
@@ -56,6 +62,26 @@ def is_raspberry_pi():
     except:
         pass
 
+if is_qualcomm_rb5():
+    # manually add cameras. 4K main:
+    caps = []
+    caps.append({'value': "3840x2160", 'label': "3840x2160", 'height': 2160, 'width': 3840, 'format': 'video/x-raw', 'fpsmax': '30'})
+    caps.append({'value': "2560x1440", 'label': "2560x1440", 'height': 1440, 'width': 2560, 'format': 'video/x-raw', 'fpsmax': '30'})
+    caps.append({'value': "1920x1080", 'label': "1920x1080", 'height': 1080, 'width': 1920, 'format': 'video/x-raw', 'fpsmax': '60'})
+    caps.append({'value': "1280x720", 'label': "1280x720", 'height': 720, 'width': 1280, 'format': 'video/x-raw', 'fpsmax': '60'})
+    name = "Main Camera (IMX577)"
+    path = "qti-0"
+    retDevices.append({'value': path, 'label': name, 'caps': caps})
+
+    # tracking camera
+    caps = []
+    caps.append({'value': "1280x800", 'label': "1280x800", 'height': 800, 'width': 1280, 'format': 'video/x-raw', 'fpsmax': '60'})
+    caps.append({'value': "1280x720", 'label': "1280x720", 'height': 720, 'width': 1280, 'format': 'video/x-raw', 'fpsmax': '60'})
+    caps.append({'value': "640x400", 'label': "640x400", 'height': 400, 'width': 640, 'format': 'video/x-raw', 'fpsmax': '120'})
+    name = "Tracking Camera (OV9282)"
+    path = "qti-1"
+    retDevices.append({'value': path, 'label': name, 'caps': caps})
+
 legacycamint = 0
 
 for device in devices:

python/rtsp-server.py

@@ -94,6 +94,19 @@ def getPipeline(device, height, width, bitrate, format, rotation, framerate, tim
     if device == "testsrc":
         s_src = "videotestsrc pattern=ball ! video/x-raw,width={0},height={1}{2}".format(
             width, height, framestr)
+    elif device in ["qti-0", "qti-1"]:
+        # RB5 board
+        s_src = "qtiqmmfsrc camera={3} ! video/x-raw,format=NV12,width={0},height={1}{2}".format(
+                width, height, framestr, int(device[-1]))
+        if rotation == 90:
+            s_src += " ! qtivtransform rotate=1"
+        if rotation == 180:
+            s_src += " ! qtivtransform rotate=3"
+        if rotation == 270:
+            s_src += " ! qtivtransform rotate=2"
+        # qtic2venc (hardware enc) won't work on rtsp. Also can't get qtioverlay to show timestamp
+        # So, going to software encoding here :(
+        s_h264 = "{1}x264enc tune=zerolatency bitrate={0} speed-preset=superfast".format(bitrate, ts)
     elif device in ["argus0", "argus1"]:
         s_src = "nvarguscamerasrc sensor-id={0} ! video/x-raw(memory:NVMM),width={1},height={2},format=NV12{3}".format(
             device[-1], width, height, framestr)

server/flightController.js

@@ -434,6 +434,11 @@ class FCDetails {
       this.serialDevices.push({ value: '/dev/ttyTHS1', label: '/dev/ttyTHS1', pnpId: '' })
     }
 
+    // Qualcomm RB5
+    if (fs.existsSync('/dev/ttyHS5')) {
+      this.serialDevices.push({ value: '/dev/ttyHS5', label: '/dev/ttyHS5', pnpId: '' })
+    }
+
     // has the active device been disconnected?
     if (this.port) {
       console.log('Lost active device')