This was Randy's idea.

Have a "flip" smart shot that responds to a button press to go into FLIP mode!

This is your "dead simple" Smart Shot example, but it doesn't use extensively smart shot code. So maybe this is a dedicated example using buttons.

For example, #2 requires certain packages. This list is more important than the bitbake commands that compile them, especially if the sdg-packages bucket were to exist.

We need a better name for the "sdg" utility. Probably "solo-utils" is easy enough.

Do we want parity with "sololink-config" in any way?

We also need an installer for "sdg" that is simpler than cloning a Github repo. Probably downloading a shell script is easy.

Accessory Port Connector

https://jae-connectors.com/en/pdf_download_exec.cfm?param=SJ038252.pdf

Here are the pinouts:

1. USB D-
2. USB D+
3. N/C
4. N/C
5. N/C
6. N/C
7. N/C
8. N/C
9. SER5 TX (DEBUG)
10. SER2RT
11. SER2Tx
12. CANH1
13. CANL1
14. GND
15. BATT
16. USB GND
17. +5V
18. N/C
19. +5V
20. N/C
21. GND
22. N/C
23. BUS ID
24. SER5 RX (DEBUG)
25. SER2CT
26. SER2Rx
27. 3DRID (USB ID)
28. GND
29. GND
30. BATT

• How do you upload files to Solo?
• How do you read Solo system logs?

e.g.

modprobe mxc_v4l2_capture; gst-launch mfw_v4lsrc ! <YOURPIPELINE>

If you want to use Gstreamer to access the stream:

if so, disable the VID line in /etc/inittab, restart the copter

then you can get access to the incoming video stream with “modprobe mxc_v4l2_capture; gst-launch mfw_v4lsrc ! "

The easiest proposal for updating the guide is an "evergreen" strategy:

The 3DR Dev Guide is updated with new content on a rolling basis, and always targets the latest release of Solo.

Are there other things to consider?

/cc @mrpollo @bbasso

https://www.lucidchart.com/

So many charts

Use inittab of level 4 with respawn!

I have a great document in mind how do I contribute?, should we append to README.md or create a new file and add it to the Table of Contents of README.md?

We want this to include a REST API, actual Python libraries, and to leverage gstreamer clipping from /dev/video2/.

If at all possible, let's do this in-memory too instead of using the filesystem (thanks Dan for the idea!).

• How to edit Lucid charts
• How is the guide versioned and updated? (#42)
• How are static files hosted? (Including PDFs)

We need a section in "Troubleshooting" about reading and consuming Solo system logs.

• What process monitors logs? (syslogd?)
• Where are logs located? (/log/ ?)
• What processes generate what logs?
• What happens when the log directory is full?

--remove-all doesn't work

Do we need the solo binaries or does arm-none-eabi-gcc work?

checklist for smartshots

1. can smartshot repo be public?
2. split out via bitbake
3. split out via git
4. testing setups
5. repackager
6. refactor
7. public guides on modifying
8. done

got a few things to do in opencv

1. patch the v4l2-utils
2. patch the x264

This is composed of several parts:

1. SITL (drone)
2. Artoo
3. Sololink
4. Map view
5. Mobile App

https://github.com/3drobotics/donkeykong simulates several of these but isn't yet dev-ready.

Eric documented his full setup for simulation, but we should work on creating something easy to be used by partners.

• Create a smartshot
• Create an onboard video consumer
• Create an onboard video output
• Communicate with an App from an onboard server

Accessing Solo

When Solo and its controller are booted, it creates a private network between the two devices over WiFi. Any computer or smartphone can connect to this network and access these devices by their IP addres

• What is "Solo". What is the "Controller"?
• We don't mention SDG here. Isn't it a main mechanism for accessing Solo?

Utilities

• This has inconsistent naming - utilities in page and "The SDK Utilitie" in sidebar. I would expect it the other way round (large version in page)
• This states "There are several scripts ". But we only refer to one - SDG
• The first sentence isn't quite a introduction to the bullet points. So it says "There are several scripts that we will be using throughout this tutorial that are packaged as a folder of shell scripts." but ideally it would then have a sentence "The most important of these is sdg, which is used to:"
• I'd also like to clarify the last point "Tunnelling to the Internet through your host.". So what I think you do is SSH into Solo (or controller?) and then you can use sdg to tunnel back out of SOLO to the internet through your host.

Installing Files and Code

After having installed the sdg tool, from ..
...
This tunnels an Internet connection to Solo through your computer.

It is not clear to me from previous information whether this is something you install on SOLO or on the computer. If it is on Solo, then the last sentence would perhaps be more accurately "tunnels an Internet connection FROM solo .."

in section "Bundling Python code"

This mechanism bundles Python code locally on your computer and expands it in a virtual environment on Solo

Perhaps "This section shows how you can bundle Python code locally and expand it ...". A minor point, but when you refer to "This mechanism", I was looking for a mechanism that had previously been referred to.

entire directoy we s

Typo "directory"

The docs are really good. Wouldn't hurt to run a spell checker and do minor technical subedit.

Aside from editing cable_cam.py and pretending it's a new smartshot.

How do I enable smartshots outside the app, for non-iphone control? (if this is necessary; we know how to do it, but)

Is this a desired usecase?

e.g. a company wants to install a server product on Solo as part of an app. They provide their code as an rpm. How can they install that?

Many of the examples now use packages as generated by Yocto, since this is a natural development pattern.

We must decide between two options:

1. Do we host only the "unique set" of packages useful for development, or
2. Do we host the entire package repository as generated by Yocto?

Solo can deal with either. Generating the "unique set" is difficult as it implies a whitelist of packages that is not easy to determine except with a stock Solo. Hosting the entire package repository implies that we have accessible packages for all code running on Solo.

We want a way to track the success of SDG and ongoing results.

• track globally

Would it make sense to include a section that includes external links to sites and forums that already exist and contain resources for developing on pixhawk? It may not make sense to link out once this is more built out, but for new developers this could be a good resources to help them navigate the open source world that already exists.

You can use sshuttle (a Python-based proxy that leverages iptables) to reach the Internet.

./sshuttle -H -r [email protected] 0/0 -vv  --seed-hosts google.com,www.google.com

You'll need to be able to SSH from Solo to your host computer. Do this in one SSH connection and load another SSH connection to work with the proxied service.

Note that only TCP traffic is tunnelled, not ping, ICMP, etc.

Good question.

WIP:

#!/bin/bash
# install-runit
# This script will install runit as a process spawned by /etc/inittab
# to monitor services under /etc/solo-services under runlevel 4

# This function ensures that a line exists in a given file.
# If it doesn't, it adds it.
lineinfile () {
FILE=$1
LINE=$2
grep -q "$LINE" "$FILE" || echo "$LINE" >> "$FILE"
}

# First create the directory where our services will live.
mkdir -p /etc/solo-services

# We require a script called /sbin/solo-services-start.
# This will be launched on startup as a long-lived process
# (under runlevel 4) that monitors the /etc/solo-services
# directory and respawns services that live there.
# Lookup runsvdir(8) for more information on how this works.
cat <<'EOF' > /sbin/solo-services-start
#!/bin/sh

PATH=/usr/local/bin:/usr/local/sbin:/bin:/sbin:/usr/bin:/usr/sbin:/usr/X11R6/bin

exec env - PATH=$PATH \
runsvdir -P /etc/solo-services "log: $(printf '.%.0s' {1..395})"
EOF
chmod +x /sbin/solo-services-start

# We add /sbin/solo-services-start as a startup script.
lineinfile "/etc/inittab" "SSS:4:respawn:/sbin/solo-services-start"

# Tell the OS to re-read /etc/inittab and immediately
# launch all services.
init q

This would replace the crude "tunnel" system.

The Controller has the capacity to act not only as an AP (allowing Solo to connect to it) but also as in STA mode (connecting to a different wifi network). This is enabled through /etc/sololink.conf and the configuration can happen from the command line.

The next step is configuring NAT so that Solo can act as though it were connected to the network as well.

Lastly, we need to the capacity to change this wifi network from Solo, possibly by SSHing into Artoo. Do we hardcode this configuration, so Solo always tries to connect to a specific Wifi network?

Well, can you? qemu

Until we have proper instruction on how these will be presented, we may want to hide them entirely.

Easiest: changing the CNAME to point to the S3 hosted directory on launch day.

We have a rudimentary style based off of the default Gitbook theme. This lives in the ./theme directory.

We used the default theme from Gitbook as a base. You can see the tag "tag-gitbooktheme" is when this theme was copied over as a dependency.

Modifications have been made since as a POC for a header / footer. We have control over SASS, HTML, and JS on the site. For now, these are published statically to S3, so no dynamic backend assets.

• 3DR branded header
• Links to forums, support, feedback
• Set up appropriate URL
• Nginx server #48

This allows us to use v4l2loopback to do video preprocessing. We can work around this if necessary by banning video preprocessing and only allowing multiple video sources.

http://www.yoctoproject.org/docs/current/dev-manual/dev-manual.html#runtime-package-management-target-rpm

Video pipeline:

GoPro -> HDMI cable -> HDMI encoder -> i.MX6 (h.264 encode/gstreamer) -> WiFi (UDP) -> Artoo (h.264 decode/hdmi output/UDP relay to phone) -> WiFi (UDP) -> App

We want to flesh out the hardware content of the guide.

Dan Moroni, can you write up a list of content that would be considered necessary for public release?

This will be needed by downstream.

on the Installing packages directly with pip section we don't really cover installing packages with pip we are only showing a how to install pip script

I propose 2 subsections:

• How to install pip
• How to install a package using pip

This is a huge blocker on other elements of the system and needs to be fixed asap.

Going to work with the dedicated Solo package manager and see if this works with the provided instructions.

Next, update the instructions to document (Yocto info?) how this is set up.

Finally, add sdg install-videosink.

• How do you factory reset Solo?
• How do you reset solo to a known firmware image?

Turn the machine upside down.

if you use the `GMB_K_RATE` you also need to set `GMB_CUST_GAINS`  to `1.0`
setting it back to `0.0` will get you back your gains

We use rpm on Solo. There's also the smart package manager which can be used to download from a repository. (How do you connect that to Solo though?)

Using a webcam or even the gopro as input. If we are writing docs to answer all of these questions, I can take on this one.