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Navio 2 Autopilot Shield Documentation

repository·master·Indexed 41 days ago

https://github.com/emlid/navio2

Drivers and example implementations for the Navio 2 autopilot shield on Raspberry Pi. Provides C++ and Python interfaces for onboard sensors (IMU, Barometer, GPS) and peripherals (LED, Servo, RCInput), including support for I2C and SPI communication.

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What's inside Navio 2

  1. Overview of Navio python drivers

    master
    The navio2 Python repository contains drivers designed to interface with the various hardware devices located on the Navio 2 board. These drivers allow Python applications to control and monitor board-specific peripherals.

  2. Overview of Navio 2 drivers and examples

    master
    Navio 2 is a collection of drivers and examples designed for the Navio 2 autopilot shield for Raspberry Pi. The repository provides support for onboard devices through both C++ and Python interfaces, covering sensors (IMU, Barometer, GPS), peripherals (LED, Servo, RCInput), and communication interfaces (I2C, SPI).

  3. Cross-compile Navio 2 C++ code for ARM

    master

    To compile Navio 2 C++ examples for the target ARM architecture on a different host system, follow these steps:

    1. Install the toolchain: On Debian-based systems, install the ARM cross-compiler:

      sudo apt-get install gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf

    2. Configure and Build: Set the CXX environment variable to the ARM compiler and use make to compile:

      export CXX=arm-linux-gnueabihf-g++
make
    export CXX=arm-linux-gnueabihf-g++
make

  4. Available C++ drivers and examples

    master

    The C++ implementation provides low-level drivers and high-level examples for Navio 2 hardware:

    Drivers:

    • MPU9250 SPI
    • LSM9DS1 SPI
    • U-blox SPI
    • MS5611 I2C
    • I2C driver
    • SPI driver

    Examples:

    • AccelGyroMag
    • ADC
    • AHRS
    • Barometer
    • GPS
    • LED 2
    • RCInput
    • Servo

  5. Available Navio 2 utilities

    master

    The repository includes several utility applications:

    • 3D IMU visualizer: For visualizing inertial measurement unit data.
    • U-blox SPI to PTY bridge utility: Bridges U-blox SPI data to a pseudo-terminal.
    • U-blox SPI to TCP bridge utility: Bridges U-blox SPI data to a TCP connection.
    • ROS packages installation script: Automates the installation of ROS packages for Navio.