1. 源由

在前面文档中，我们已经基本上搭建了 树莓派FPV的 Ardupilot Rover测试平台：

• 《wfb-ng 开源代码之树莓派3B+ Bookworm安装》
• 《wfb-ng 开源代码之树莓派3B+ Bookworm无线配置》

在实际使用过程中，由于msposd采用了native build方式，与OpenIPC的安装方式不太一样，所以有些细节需要进行调整。

1. 天空端安装路径
2. 自定义数据支持

2. 安装

msposd由于navtive build方式编译，安装应用了gs目录结构。

• 目录结构：

$ tree /usr/local/bin/fpvdrone/
/usr/local/bin/fpvdrone/
├── font_ardu_hd.png
├── font_ardu.png
├── font_btfl_hd.png
├── font_btfl.png
├── font_inav_hd.png
├── font_inav.png
├── fpv-drone.sh
├── fpv-update.sh
├── vtxmenu.ini
└── msposd

1 directory, 8 files

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3. 脚本

• 自定义更新脚本 (每秒更新)

$ sudo nano /usr/local/bin/fpvdrone/fpv-update.sh
$ sudo chmod +x /usr/local/bin/fpvdrone/fpv-update.sh
$ cat /usr/local/bin/fpvdrone/fpv-update.sh
#!/bin/bash

while true; do
  echo "Monitor... &L24 &F28 CPU:&C &B temp:&T" > /usr/local/bin/fpvdrone/MSPOSD.msg
  sleep 1
done

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• 启动脚本支持libcamera-vid日志管道

$ cat /usr/local/bin/fpvdrone/fpv-drone.sh
#!/bin/bash

# Set up environment variables
export PATH=$PATH:/usr/local/bin:/usr/bin
export LD_LIBRARY_PATH=/usr/local/lib:/usr/lib

# Start the wfb_tx process
/usr/bin/wfb_tx \
  -p 17 \
  -u 14560 \
  -K /etc/drone.key \
  -B 20 \
  -M 1 \
  -S 1 \
  -L 1 \
  -G long \
  -k 1 \
  -n 2 \
  -T 0 \
  -i 7669206 \
  -f data \
  wfb-rf0 &

# Check if /tmp/libcamera-logs FIFO file exists, create it if not
if [ ! -p /tmp/libcamera-logs ]; then
  mkfifo /tmp/libcamera-logs
fi

# Start libcamera-vid and pipe its output to GStreamer while logging to /tmp/libcamera-logs
/usr/bin/libcamera-vid \
  --verbose \
  --inline \
  --width 1920 \
  --height 1080 \
  --bitrate 4000000 \
  --framerate 30 \
  --hflip \
  --vflip \
  --timeout 0 \
  -o - 2> /tmp/libcamera-logs | \
  /usr/bin/gst-launch-1.0 \
    -v fdsrc ! h264parse ! rtph264pay config-interval=1 pt=35 ! udpsink sync=false host=127.0.0.1 port=5602 &

# Change to the FPVDrone directory and start the msposd process
cd /usr/local/bin/fpvdrone/
/usr/local/bin/fpvdrone/msposd \
  --master /dev/ttyUSB0 \
  --baudrate 115200 \
  --out 127.0.0.1:14560 \
  --matrix 11 \
  --ahi 1 \
  -r 30 \
  -c 7 \
  -c 9 &

# (Optional) Run the FPVDrone update script
# /usr/local/bin/fpvdrone/fpv-update.sh &

# Wait for all background processes to finish
wait

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4. 服务

• 服务配置路径更新

$ cat /etc/systemd/system/fpvdrone.service
[Unit]
Description=FPV Drone Service
Requires=wifibroadcast.service
ReloadPropagatedFrom=wifibroadcast.service
After=wifibroadcast.service

[Service]
Type=simple
ExecStartPre=/bin/sleep 10
ExecStart=/usr/local/bin/fpvdrone/fpv-drone.sh

Restart=always
User=root
Group=root
AmbientCapabilities=CAP_NET_RAW CAP_NET_ADMIN
WorkingDirectory=/
StandardOutput=journal
StandardError=journal
Restart=on-failure
RestartSec=5s

[Install]
WantedBy=multi-user.target

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5. TODO

树莓派目前尚不在msposd支持范围，树莓派官网在制作工具链二进制方面的情况尚没有研究透，所以暂时还没有计划。

• How can I get up to date cross-compiler on x86 platform for Pi3B+ bookworm? #135

依据前面步骤，调整安装路径，脚本，以及相关配置，native build是可以在树莓派Pi3B+上部署和使用的。

• [Request] Custom message(bitrate/fps) support for other platform except SIGMASTAR

以下libcamera-vid日志数据可以提供FPS/bitrate分析：

#31 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d97a000 size 21529
Viewfinder frame 32
#32 (30.01 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d8ba000 size 21331
Viewfinder frame 33
#33 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d7fa000 size 20932
Viewfinder frame 34
#34 (29.99 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d73a000 size 21008
Viewfinder frame 35
#35 (30.02 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d67a000 size 14030
Viewfinder frame 36
FileOutput: output buffer 0x7f9d5ba000 size 20665
#36 (30.01 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 37
#37 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7fa40c0000 size 13858
FileOutput: output buffer 0x7fa4000000 size 13573
Viewfinder frame 38
#38 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 39
#39 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9dc7a000 size 20551
FileOutput: output buffer 0x7f9dbba000 size 13894
Viewfinder frame 40
#40 (30.01 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 41
#41 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9dafa000 size 13314
Viewfinder frame 42
FileOutput: output buffer 0x7f9da3a000 size 26276
#42 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 43
#43 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d97a000 size 15762
Viewfinder frame 44
FileOutput: output buffer 0x7f9d8ba000 size 8856
#44 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 45
FileOutput: output buffer 0x7f9d7fa000 size 10674
#45 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 46
#46 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d73a000 size 16184
Viewfinder frame 47
FileOutput: output buffer 0x7f9d67a000 size 16389
#47 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
Viewfinder frame 48
#48 (30.00 fps) exp 33216.00 ag 8.00 dg 1.00
FileOutput: output buffer 0x7f9d5ba000 size 16489
Viewfinder frame 49

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