BlueOS Extension for Water Linked Underwater GPS

State

This extension is currently in development. It has no UI page (so creates no listing in the sidebar of BlueOS).

Functionality

Assuming the UGPS is detected and working this service

forwards MAVLink data from Mavlink2Rest like depth to the UGPS Topside (to enable it to function)
forwards locator position from UGPS Topside to MAVLink (message GPS_INPUT)
- the autopilot should send corresponding GPS_RAW_INT messages to the topside computer (QGroundControl)
- the autopilot sends regular GLOBAL_POSITION_INT messages to the topside computer with its filtered position estimates
forwards topside position from UGPS Topside to UDP port 14401 with NMEA to be received by QGroundControl (implemented, but currently not tested)

If you do not have access to a UGPS system, you can use UGPS_HOST=https://demo.waterlinked.com , which simulates a UGPS system with its API.

Hardware documentation can be found at https://waterlinked.github.io/underwater-gps/integration/bluerov-integration/

How to install

There are 2 options

Use the extensions manager in BlueOS 1.1.0

Click Extensions > Extensions Manager
Install this extension

Configuration is usually not required, but can be done by editing the extension in the "Installed" tab of the Extensions Manager.

Editing requires Pirate Mode to be enabled, after which the "Edit" button can be used. Copy the Original Settings contents into the Custom settings box, and (if necessary) change the IPs/Host addresses, e.g. to use the demo server:

{
  "NetworkMode": "host",
  "Env": [
	"UGPS_HOST=https://demo.waterlinked.com",
	"MAVLINK_HOST=http://192.168.2.2:6040",
	"QGC_IP=192.168.2.1"
  ]
}

Use the "View Logs" button to check the status.

Build docker image yourself and start it

To set this up, ssh into the Raspberry Pi (or access via red-pill in BlueOS Terminal)

install git, clone this repository and run

# build the docker image
docker build -t waterlinked/blueos-ugps-extension:latest .
# see all images
docker images

# running the plugin

# either: run detached
#   with standard command
docker run -d --net=host waterlinked/blueos-ugps-extension:latest python app/main.py --ugps_host http://192.168.2.94 --mavlink_host http://192.168.2.2:6040 --qgc_ip 192.168.2.1
#   or with demo server
docker run -d --net=host waterlinked/blueos-ugps-extension:latest python app/main.py --ugps_host https://demo.waterlinked.com --mavlink_host http://192.168.2.2:6040 --qgc_ip 192.168.2.1

# or: in interactive shell to get debug output
docker run -it waterlinked/blueos-ugps-extension:latest /bin/bash
#   with standard command
cd app && python main.py --ugps_host http://192.168.2.94 --mavlink_host http://192.168.2.2:6040 --qgc_ip 192.168.2.1
#   or with demo server
cd app && python main.py --ugps_host https://demo.waterlinked.com --mavlink_host http://192.168.2.2:6040 --qgc_ip 192.168.2.1
# end interactive session
exit

# then stop/start/look at log with
docker stop [container-id]
docker start [container-id]
docker log [container-id] # if run detached

# if you are a developer, upload to registry with (replace latest with desired tag)
docker login -u waterlinked
docker push waterlinked/blueos-ugps-extension:latest

ES-Alexander / blueos-ugps-extension