Attach Raspberry 4 to Flight Controller using USB-C to USB cable

OS

Use HDSC 32 Gb card.

Raspberry PI Imager
https://www.raspberrypi.com/software/
Ubuntu 20.04
Settings: setup ssh, wifi

Disable unattended-upgr

sudo systemctl stop unattended-upgrades
sudo apt-get purge unattended-upgrades

Update/Upgrade packages

sudo apt update
sudo apt upgrade
sudo apt autoremove
sudo reboot

Install ROS

follow ROS Install with minimal configuration

ROS Multiple machines

nano /etc/hosts

127.0.0.1 uNest
192.168.1.6 bee

ROS Slave Configuration

nano ~/.bashrc

source /opt/ros/noetic/setup.bash
export ROS_MASTER_URI=http://192.168.1.3:11311
export ROS_IP=192.168.1.6
export ROS_HOSTNAME=bee

source ~./bashrc

ROS Master Configuration

source /opt/ros/noetic/setup.bash
export ROS_MASTER_URI=http://127.0.0.1:11311
export ROS_IP=192.168.1.6
export ROS_HOSTNAME=bee

Install MavRos

MavRos Install

Catkin workspace directories

mkdir ~/workspace

Camera Driver setup

sudo nano /boot/firmware/config.txt

Add dtoverlay=ov7251

sudo reboot

Check video0 device appeared after reboot:

ls -l /dev/video*

Install Camera ROS node

cd ~/workspace

mkdir -p usb_cam_ws/src

git clone <https://github.com/ai-are-better-than-humans/usb_cam.git>

cd ..

rosdep install -y --from-paths src --ignore-src

catkin_make

Launch Camera ROS Node

cd ~/workspace/usb_cam_ws
source devel/setup.bash
roslaunch usb_cam usb_cam-test.launch

Launch Flight Controller MavROS node attached to usb com

rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:912600

Set IMU stream rate to 300 hz

rosrun mavros mavsys rate --stream-id 1 300