SMACCMPilot demo flight

This page covers configuration of the mission computer for a demo flight. First, make sure you have uploaded the flight computer software.

You will then have to make sure that uboot is installed, that the seL4-based mission computer is installed, and that the filesystem for the untrusted Linux VM demo component is flashed to the eMMC storage.

Flash uboot

Follow the instructions here

Load mission computer image

Follow the instructions here.

A few notes about the uploading: for debugging, it is possible to set up FTP on the GCS and DHCP file transfer on the TK1/uboot. This is a bit of a pain to set up on the host side (hence we don’t provide specific instructions), but works fine once going.

For the actual flight we use USB loading. That means we put a USB stick into the TK1’s blue usb port. The USB stick has a file called sel4.img which contains the TK1 image. Then we have uboot configured to do a USB boot.

The uboot sequence is:

usb start
load usb 0:1 0x81000000 sel4.img
bootelf 0x81000000

NOTE: if your image has a different name than sel4.img, make sure to modify the command accordingly.

If that works, you can save it as the default boot command with

setenv bootcmd "usb start; load usb 0:1 0x81000000 sel4.img; bootelf 0x81000000"

To boot the actual vehicle:

  1. Plug in the USB stick
  2. Press the daughterboard reset button
  3. Count to 10 seconds
  4. Remove the USB stick, and wait for the rest of the system to boot

Load the Linux filesystem

Download the Linux filesystem image from Dropbox here and unzip it.

Go into uboot and do:

ums mmc 0

This makes the eMMC storage available as a USB mass storage device. Then connect the mini-USB port on the TK1 to your computer. You should see a new drive, such as /dev/sdb1, which you can mount and read/write. You can wipe out what’s there already and replace it with the proper downloaded. Make sure to use the -r flag to cp to preserve permissions. Run sync afterwatds to make sure all files got properly copied.

The files relevant for the demo flight are under /root directory.

Upload Pixy cam software

Follow the instructions here.

Ready to fly?

Proceed to preflight preparations or check out the example of demo flight.