chip updates: installing the telemetry and the Intel RealSense --hardware freeze--? [updates]
So I'm going to spend some time installing hardware right now! The Intel RealSense T265 tracking camera and the telemetry module for Ardupilot. The RealSense is an advanced Stereo Vision camera that will allow us to generate 3D depth maps of the environment and do V-SLAM pose estimation and etc. Environment Reconstructions and stuff!
The telemetry module will allow us to send GPS data/mission waypoint data to the craft remotely. It will allow us to connect CHIP to a ground station software such as QGroundControl and command it from that platform. Let's get started!
So the first thing we want to do is install the actual Telemetry unit and test it. What we did was locate the Telem1 port on the Pixhawk and plugged in the RFD 900+ Radio Telemetry Unit to it. Then we VHB-taped the unit to the bottom of the Jetson board so it could mount in the same region as the other components but also be electrically isolated.
Then it came time to test the system. We plugged in the USB version of the radio module to the USB port on the computer and opened up QGroundControl. It took a few tries to connect it as usually happens with this kind of telemetry, but it worked!
Remember, the RFD 900+ is only on here because we HAVE it. Otherwise, you can USB to mission planner, you can setup the Jetson TX1 as a communicator with Mission Planner/QGoundControl, you can do so many other things to get wired/wireless mission monitoring and waypoint uploading. We're using this module because (a) we have it and (b) it'll be super useful for us in the field for testing purposes and monitoring.
Now it's time to install the RealSense T265. This installation was really simple, if you look at the front of the robot, to be honest, there's only one singular place it could go.
We also ran the USB cable through the holes in the frame so it's less noticeable and easier to manage. The final platform will use this for environment re-construction but for now we're leaving it unplugged and with the protective cover on because we don't want to damage it in any way. It was mounted with VHB tape and secured with Duct tape (not idea but we don't have a 3D printer right now, when we get access to one we'll print a mount for it as well as most other things on the robot.
That's it! I think that's all the pieces of hardware that will ever be on this version of CHIP?