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# WELCOME TO OPEN SOLO # # WELCOME TO OPEN SOLO #
## Annoucements ## [Go to the Open Solo github Wiki for Open Solo documentation and instructions](https://github.com/Pedals2Paddles/OpenSolo/wiki)
***NEW: CONSOLIDTED REPOSITORY IS HERE***
Many of the seperate github repositories for the various aspects of Open Solo have been consolidated into one central repo, which is where you are now. Anything that wasn't a fork of another repo has been converted to a subdirectory of this repo. This includes sololink, shotmanager, solo-builder, artoo, sololink-python, stm32loader, meta-3dr, and yocto base. Conveniently, these are the repos that see the most ongoing development. As such, it will be much easier to manage that work in one place. Releases, tags, and branches will have some logic and consistency. The commit history from the old separate repos has been retained and all show up here still, so history is not lost or forgotten.
Mavproxy and mavlink-solo remain separate repos, included here as submodules. These are forks from ArduPilot, and shall remain in their repos for that reason. Ultimately, it would be great to just use the master ArduPilot repos, but the Solo's firmware is too old. So these forks are circa 2016. The imx6-linux and imx6-uboot are also still in their own repos. They are forks, and have tens of thousands of commits each. They also are untouched since 2016, and will probably remain so.
ArduPilot-solo is the repo for the old stock ArduCopter firmware from 3DR. It is a fork from ArduPilot, stale since 2016 other than one commit for Open Solo 3. This will as such be remaining its own repo, included here as a submodule for reference. Once ArduCopter 3.7 stable is released, this repo will be obsolete and deprecated.
***
## ARDUCOPTER 3.7-DEV TESTING ##
[Click here for release notes and instructions](/documentation/copter37.md) as of December 8, 2018 for beta testing ArduCopter 3.7-dev on the Solo. You must already be on Open Solo to do this. This is a major beta testing project.
---
## OPEN SOLO v3.0.0 STABLE RELEASE ON JANUARY 1, 2018 ##
The team working on safe, reliable releases of Open Solo publishes them here. You can read all the details in the release notes, and link directly to installation instructions. These are the "official" instructions. These instructions supersede any other older instructions, videos, and wikis that came before Open Solo.
### _Release notes and instructions_ ###
- Release notes for Open Solo 3.0.0 and prior (located in older documentation repo):
- [Current stable release: v3.0.0](https://github.com/OpenSolo/documentation/releases/tag/v3.0.0)
- [All releases including old betas](https://github.com/OpenSolo/documentation/releases/)
- For _stock solos and previously installed and working green cubes_, go straight to the Open Solo installation procedures:
- [Install using the Solex app on Android](/documentation/install_solex.md)
- [Install using SidePilot app on iOS](/documentation/initial_sidepilot.md)
- [Install using SSH/SFTP on widows or mac](/documentation/initial_ssh.md)
- [Install / recovery with SD card images](/documentation/install_sdimage.md)
- For a _brand new Green Cube installation_ please follow these updated instructions!
- [New green cube installation procedure](/documentation/green_cube_install.md)
***
## Support, Social Media, and other useful links ##
* [Solo Beta Test](https://www.facebook.com/groups/617648671719759/) group on Facebook (primary Open Solo and Green Cube support group!!)
* [Solo Mod Club](https://www.facebook.com/groups/3DRSOLOModClub/) group on Facebook
* [Solex Users](https://www.facebook.com/groups/176789056089526/) group on Facebook
* [Solex App](http://www.solexapp.com/) official website. This app is truely the future of Solo's user interface!
* [SidePilot Community](https://www.facebook.com/sidepilotapp/) on Facebook
* [Jester's Drones](http://jestersdrones.org/store/l) for the Green Cube and other cool gear
* [ProfiCNC](http://www.proficnc.com/3dr-solo-accessories/79-the-cube.html) for the Green Cube and other cool gear
* [ArduPilot](http://ardupilot.org/) homepage
* [ArduCopter Full Parameter List](http://ardupilot.org/copter/docs/parameters.html) details all 700 something parameters in ArduCopter.
* [ArduCopter introduction](http://ardupilot.org/copter/docs/introduction.html): Learn what you're getting yourself into :)
* [Mission Planner](http://ardupilot.org/planner/docs/common-install-mission-planner.html) ground station app for Windows
* [Filezilla](https://filezilla-project.org/download.php?type=client) for moving files to/from the companion computer
* [WinSCP](https://winscp.net/eng/download.php) for moving files to/from the companion computer
***
## Tech and Contributors ##
If you're the geeky type that wants to read all the commits to see what has been changed in Open Solo, they can all be found in the Open Solo github repositories.
- **The Build System** compiles all the code from all the repositories into functioning binaries to be loaded onto the Solo and Controller. This was a HUGE lift to make work outside of 3DR's environment. David Buzz (@davidbuzz) was the brains behind the move of _everything_ from 3DR, setup of new repos and servers, build system engineering, and a new AWS based auto-build system. The AWS system can compile from scratch in 1hr, whereas a home PC takes up to 5hrs.
- [Meta-3DR](https://github.com/OpenSolo/meta-3dr/commits/master) is all the Yocto bitbake recipes.
- [Solo-Builder](https://github.com/OpenSolo/solo-builder/commits/master) is the virtual machine and scripts to carry out the build.
- **The Flight Code** has numerous components that got fixes and new features. Matt Lawrence (@Pedals2Paddles) worked most of these changes. Other contributors to the code were Tim (@FLYBYME), Morten Enholm (@Spawn32), and Hugh Eaves (@hugheaves),
- [Sololink](https://github.com/OpenSolo/sololink/commits/master) is mostly behind the scenes stuff related to booting, networking connections, firmware loading, etc. This compiles into a version for both the Copter and Controller's IMX companion computers.
- [Shotmanager](https://github.com/OpenSolo/shotmanager/commits/master) is all the smart shots, button and control handling, camera stuff, and most other user facing operational stuff. This compiles primarily into the Copter's IMX companion computer.
- [Artoo](https://github.com/OpenSolo/artoo/commits/master) is the controller's STM32 firmware for the screen, buttons, and sticks.
- [Mavlink-Solo](https://github.com/OpenSolo/mavlink-solo/commits/master) is a rather old fork of Mavlink. The flight modes were brought up to current enumerations.
- [Sololink-python](https://github.com/OpenSolo/sololink-python/commits/master) is some misc helper python files.
- [ArduPilot-solo](https://github.com/OpenSolo/ardupilot-solo/commits/master) is 3DR's fork of ArduCopter used on the stock Solo pixhawk 2.0 cube.
***
## For Developers ##
***Not for general users that just want to put Open Solo releases on their solo!!!***
### Building Firmware ###
* Visit the [Open Solo Vagrant VM readme](/vagrant_readme.md) for first time installation and initialization of the Vagrant VM.
* Visit [solo-builder](/solo-builder) for steps to build the complete copter and controller firmware.
* Visit [artoo](/artoo) for steps to build just the Artoo STM32 firmware
### TO-DO ###
Add to readme information on ArduCopter compatibility and building
***
## How to get involved ##
This documentation is pretty empty right now. If you know how Solo or Artoo works (or don't know!) and want to get involved pull requests are welcome on this documentation and all of the sub projects. (artoo, solo-builder etc) Most of the developers are hanging out on [gitter](https://gitter.im/ArduPilot/OpenSolo) and [Facebook](https://www.facebook.com/groups/3DRSOLOModClub/).
***
## Special Mentions! ##
All of this would not be possible without 3DR. They very generously open sourced most of their internal code and build tools to make this possible. You can see the official 3DR release statement [here](https://3dr.com/blog/announcing-opensolo/) and the ardupilot team's statement [here](https://discuss.ardupilot.org/t/opensolo-initiative-by-the-ardupilot-team).
Special thanks to Buzz and Peter for making this happen, and everyone else who has contributed to make solo even better.

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# ARTOO STM32 FIRMWARE # # ARTOO STM32 FIRMWARE #
The controller's STM32 is the hardware behind the buttons, sticks, and display. It is a separate piece of hardware from the IMX linux computers. When the solo-builder runs to compile the full copter and controller images, this Artoo STM32 firmware is included. You can aso run the Artoo STM32 builder here separately if you only want to make changes to it. It is fast and simple compared to the entire copter and controller builds. The controller's STM32 is the hardware behind the buttons, sticks, and display. It is a separate piece of hardware from the IMX linux computers. When the solo-builder runs to compile the full copter and controller images, this Artoo STM32 firmware is included. You can also run the Artoo STM32 builder here separately if you only want to make changes to it. It is fast and simple compared to the entire copter and controller builds.
Some compiled versions of the Artoo STM32 firmware can be found in the [/Firmware/Artoo STM32](/Firmware/Artoo) directory. Some compiled versions of the Artoo STM32 firmware can be found in the [/Firmware/Artoo STM32](/Firmware/Artoo) directory.
*** [Go to the Open Solo github Wiki for Open Solo documentation and instructions](https://github.com/Pedals2Paddles/OpenSolo/wiki/Artoo-STM32)
## Building the Artoo STM32 Firmware ##
To build the Artoo STM32 firmware, you must use the vagrant virtual machine, which will have everything configured by script. We can assure with 100% confidence that trying to run the builder natively on your own linux machine will not work. The vagrant VM is configured to have all required packages, and uses Ubuntu 14.04. Nothing newer will work. Do not attempt to upgrade the Vagrant VM, even if it suggests you do so. Everything will explode.
_The vagrant VM used for Artoo is also used for solo-builder. So if you already installed and setup the VM for solo-builder, you can skip right to executing the build._
### Initial Vagrant VM Setup ###
Visit the [Open Solo Vagrant VM readme](/vagrant_readme.md) for first time installation and initialization of the Vagrant VM.
### Executing Build ###
1. `vagrant up` from the root of root of the OpenSolo repo directory (windows command prompt or ubuntu terminal) starts the VM
2. `vagrant ssh` connects you to the vagrant VM, where you will do all the building
FYI `vagrant@vagrant-ubuntu-trusty-64:~$` is what the prompt will look like once you're connected. You will land in the home directory (`~/`)
FYI `/vagrant` within the vagrant VM is symlink to the root of the OpenSolo repo outside the vagrant VM.
3. `$ cd /vagrant/artoo` changes to the artoo directory
4. `$ ./tup` executes the build.
#### Completed files ####
The build produces `artoo.bin` which is deposited in the /artoo directory. You can use it as is, or you can rename it. If you rename the file, it must always begin with `artoo_` and must have a `.bin` extension.
***
## Install Artoo STM32 Firmware On Controller ##
The default filename is `artoo.bin`. You can rename it, as long as it begins with `artoo_`. For example, you can name the file `artoo_1234xyz.bin`. This firmware can be installed directly using SCP or and SFTP application. Connect your PC to the Solo's WiFi. If you never changed the Solo's wifi password, the default is sololink.
_Doublecheck the .bin file to make sure it is about 200-300kb in size. If it's 0kb, the build failed and it shouldn't be loaded_
1. Connect via SCP or an SFTP application to the **controller** with IP 10.1.1.10, username root, password TjSDBkAu
2. Copy `artoo.bin` to the `/firmware` directory on the controller.
3. Reboot the controller. When powering up, the display will go out and come back on during the update.
If you inadvertantly flash an empty or bad .bin file, it is generally easy to fix. Simply redo these steps using a known good .bin file and it will load.
[How to customise start/shutdown image](/documentation/artoo/customisation/custom-boot-screen.md)
***
## Stick Calibration ##
--THIS NEEDS TO BE UPDATED--
Stick calibration data (along with other params) are stored in the STM32's MCU flash. There exists as GUI to calibrate them as part of the manufacturing process, but if you're interested in calibrating an existing Artoo, use `tools/stick-cal.py` as follows:
* copy both `tools/slip.py` and `tools/stick-cal.py` to the iMX6 board in your Artoo unit, via `scp` or similar
* `ssh` into the iMX6, and run `python stick-cal.py`, move the sticks and camera controls to their extremes, then press `ctrl-C` to complete the calibration
***
## Using with ArduPilot SITL ##
It is possible to do some basic testing against a simulated vehicle with the SITL environment provided by ardupilot. http://dev.ardupilot.com/wiki/setting-up-sitl-on-linux should get you set up to run it.
To connect your board to the simulation environment:
* connect an FTDI cable (or similar) to the UART that is normally connected to the iMX6
* if using a VM, pass the virtual serial device into the VM
* run `tools/slip-mavlink.py` (within the VM if you're using one) - this translates mavlink data from SITL into SLIP encoded data, and passes it to the STM32. It should print the IP address it's listening on - pass this to the `--out` argument of SITL when you start it below.
From within the ardupilot project folder, start up SITL and then :
$ cd ArduCopter
$ ../Tools/autotest/sim_vehicle.sh --console --out xxx.xxx.xxx.xxx
$ ... SITL starts up ...
Now, stick values and mavlink data are sent bidirectionally between artoo<->SITL, and you should be able to fly as normal.

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# Open Solo Releases For Users # # Open Solo Releases For Users #
***NEW: ARDUCOPTER 3.7-DEV TESTING*** [Go to the Open Solo github Wiki for Open Solo documentation and instructions](https://github.com/Pedals2Paddles/OpenSolo/wiki)
[Click here for release notes and instructions](../master/install_solex.md) as of December 8, 2018 for beta testing ArduCopter 3.7-dev on the Solo. You must already be on Open Solo to do this. This is a major beta testing project.
## INFORMATION CURRENT FOR STABLE RELEASE OPEN SOLO v3.0.0 ON JANUARY 1, 2018 ##
The team working on safe, reliable releases of Open Solo publishes them here. You can read all the details in the release notes, and link directly to installation instructions. These are the "official" instructions. These instructions supersede any other older instructions, videos, and wikis that came before Open Solo.
### _Release notes and instructions_ ###
- Release notes for each version:
- [Current stable release: v3.0.0](https://github.com/OpenSolo/documentation/releases/tag/v3.0.0)
- [All releases including old betas](https://github.com/OpenSolo/documentation/releases/)
- For _stock solos and previously installed and working green cubes_, go straight to the Open Solo installation procedures:
- [Install using the Solex app on Android](../master/install_solex.md)
- [Install using SidePilot app on iOS](../master/initial_sidepilot.md)
- [Install using SSH/SFTP on widows or mac](../master/initial_ssh.md)
- [Install / recovery with SD card images](../master/install_sdimage.md)
- For a _brand new Green Cube installation_ please follow these updated instructions!
- [New green cube installation procedure](../master/green_cube_install.md)
### _Support, Social Media, and other useful links_ ###
* [Solo Beta Test](https://www.facebook.com/groups/617648671719759/) group on Facebook (primary Open Solo and Green Cube support group!!)
* [Solo Mod Club](https://www.facebook.com/groups/3DRSOLOModClub/) group on Facebook
* [Solex Users](https://www.facebook.com/groups/176789056089526/) group on Facebook
* [Solex App](http://www.solexapp.com/) official website. This app is truely the future of Solo's user interface!
* [SidePilot Community](https://www.facebook.com/sidepilotapp/) on Facebook
* [Jester's Drones](http://jestersdrones.org/store/l) for the Green Cube and other cool gear
* [ProfiCNC](http://www.proficnc.com/3dr-solo-accessories/79-the-cube.html) for the Green Cube and other cool gear
* [ArduPilot](http://ardupilot.org/) homepage
* [ArduCopter Full Parameter List](http://ardupilot.org/copter/docs/parameters.html) details all 700 something parameters in ArduCopter.
* [ArduCopter introduction](http://ardupilot.org/copter/docs/introduction.html): Learn what you're getting yourself into :)
* [Mission Planner](http://ardupilot.org/planner/docs/common-install-mission-planner.html) ground station app for Windows
* [Filezilla](https://filezilla-project.org/download.php?type=client) for moving files to/from the companion computer
* [WinSCP](https://winscp.net/eng/download.php) for moving files to/from the companion computer
## Tech and Contributors ##
If you're the geeky type that wants to read all the commits to see what has been changed in Open Solo, they can all be found in the Open Solo github repositories.
- **The Build System** compiles all the code from all the repositories into functioning binaries to be loaded onto the Solo and Controller. This was a HUGE lift to make work outside of 3DR's environment. David Buzz (@davidbuzz) was the brains behind the move of _everything_ from 3DR, setup of new repos and servers, build system engineering, and a new AWS based auto-build system. The AWS system can compile from scratch in 1hr, whereas a home PC takes up to 5hrs.
- [Meta-3DR](https://github.com/OpenSolo/meta-3dr/commits/master) is all the Yocto bitbake recipes.
- [Solo-Builder](https://github.com/OpenSolo/solo-builder/commits/master) is the virtual machine and scripts to carry out the build.
- **The Flight Code** has numerous components that got fixes and new features. Matt Lawrence (@Pedals2Paddles) worked most of these changes. Other contributors to the code were Tim (@FLYBYME), Morten Enholm (@Spawn32), and Hugh Eaves (@hugheaves),
- [Sololink](https://github.com/OpenSolo/sololink/commits/master) is mostly behind the scenes stuff related to booting, networking connections, firmware loading, etc. This compiles into a version for both the Copter and Controller's IMX companion computers.
- [Shotmanager](https://github.com/OpenSolo/shotmanager/commits/master) is all the smart shots, button and control handling, camera stuff, and most other user facing operational stuff. This compiles primarily into the Copter's IMX companion computer.
- [Artoo](https://github.com/OpenSolo/artoo/commits/master) is the controller's STM32 firmware for the screen, buttons, and sticks.
- [Mavlink-Solo](https://github.com/OpenSolo/mavlink-solo/commits/master) is a rather old fork of Mavlink. The flight modes were brought up to current enumerations.
- [Sololink-python](https://github.com/OpenSolo/sololink-python/commits/master) is some misc helper python files.
- [ArduPilot-solo](https://github.com/OpenSolo/ardupilot-solo/commits/master) is 3DR's fork of ArduCopter used on the stock Solo pixhawk 2.0 cube.
# For Developers #
***FOR DEVELOPERS!! Not for general users that just want to put Open Solo releases on their solo!!!***
## [Building Open Solo (everything)](https://github.com/OpenSolo/documentation/blob/master/SOLO-BUILDER.md)
If you want to build Open Solo, take a look at solo-builder [here](https://github.com/OpenSolo/documentation/blob/master/SOLO-BUILDER.md). It contains everything you need to build OpenSolo from scratch and update your artoo/solo. If you want to make customisations or build something specific take a look below.
> Note: solo-builder is producing corrupt artoo stm32 binaries for some users. See the [artoo docs](https://github.com/OpenSolo/documentation/tree/master/artoo) if your artoo becomes "bricked" or doesn't turn on. (this is normally easily recoverable)
## [Artoo (the controller)](https://github.com/OpenSolo/documentation/tree/master/artoo)
[How to build the stm32 firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/build-artoo-firmware.md)
[How to flash the stm32 firmware](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md)
[How to unbrick artoo](https://github.com/OpenSolo/documentation/blob/master/artoo/flash-custom-firmware.md#bricked-artoo)
[How to customise start/shutdown image](https://github.com/OpenSolo/documentation/blob/master/artoo/customisation/custom-boot-screen.md)
[How to customise strings/text](https://github.com/OpenSolo/documentation/tree/master/artoo) (coming soon!)
## [Solo](https://github.com/OpenSolo/documentation/tree/master/solo)
Nothing yet :(
## How to get involved
This documentation is pretty empty right now. If you know how Solo or Artoo works (or don't know!) and want to get involved pull requests are welcome on this documentation and all of the sub projects. (artoo, solo-builder etc) Most of the developers are hanging out on [gitter](https://gitter.im/ArduPilot/OpenSolo) and [Facebook](https://www.facebook.com/groups/3DRSOLOModClub/).
## Special Mentions!
All of this would not be possible without 3DR. They very generously open sourced most of their internal code and build tools to make this possible. You can see the official 3DR release statement [here](https://3dr.com/blog/announcing-opensolo/) and the ardupilot team's statement [here](https://discuss.ardupilot.org/t/opensolo-initiative-by-the-ardupilot-team).
Special thanks to Buzz and Peter for making this happen, and everyone else who has contributed to make solo even better.

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# Solo Builder # # Solo Builder #
The solo-builder will create file system images for the Solo's IMX and the controller's IMX. The Open Solo vagrant virual machine is used for the build environment. The vagrant VM used for solo-builder is also used for the Artoo STM32 firmware builder. So if you already installed and setup the VM for artoo, you can skip right to executing the build. The solo-builder will create file system images for the Solo's IMX and the controller's IMX. The Open Solo vagrant virual machine is used for the build environment. The vagrant VM used for solo-builder is also used for the Artoo STM32 firmware builder. So if you already installed and setup the VM for artoo, you can skip right to executing the build.
## Instructions ## [Go to the Open Solo github Wiki for Open Solo documentation and instructions](https://github.com/Pedals2Paddles/OpenSolo/wiki/Solo-Builder)
### Initial Vagrant VM Setup ###
Visit the [Open Solo Vagrant VM readme](/vagrant_readme.md) for first time installation and initialization of the Vagrant VM.
### Executing Build ###
1. `vagrant up` from the root of root of the OpenSolo repo directory (windows command prompt or ubuntu terminal) starts the VM
2. `vagrant ssh` connects you to the vagrant VM, where you will do all the building
* FYI `vagrant@vagrant-ubuntu-trusty-64:~$` is what the prompt will look like once you're connected. You will land in the home directory (`~/`)
* FYI `/vagrant` within the vagrant VM is symlink to the root of the OpenSolo repo outside the vagrant VM.
3. `$ cd /vagrant/solo-builder` changes to the solo-builder directory
4. `$ ./builder.sh` executes the build. See below for command line options. On first run, you will be prompted to restart the builder after syc completes.
#### Command line options ####
`% builder.sh` with no options will build the copter IMX, controller IMX, and the Artoo STM32 firmware.
`$ builder.sh -a -m -c -n ` option arguments are available:
* `-a false` will skip building the Artoo STM32 FW and use what is already in the recipe files directory. Default is true if not specified.
* `-m both` will build both the copter and controller IMX. This is the default if not specified.
* `-m solo` will build only the copter's IMX, not the controller.
* `-m controller` will build only the controller's IMX, not the copter.
* `-c true` will clean the build recipies prior to beginning the build. Default is false if not specified.
* `-n true` nuclear option deletes the build directory (`/vagrant/solo-build/`) to start from a totally clean slate. Default is false if not specified.
#### Completed files ####
Completed binaries will be copied to a date-time stamped folder in /solo-build/binaries.
* `3dr-solo.tar.gz` and `3dr-solo.tar.gz.md5` for the copter's IMX
* `3dr-controller.tar.gz` and `3dr-controller.tar.gz.md5` for the controller's IMX
* `artoo.bin` for the controller's STM32 (already included within the controller IMX build)
### Exiting The Builder ###
* `$ exit` will exit the vagrant SSH session, returning you to the PC's command prompt.
* `vagrant halt` will shutdown the VM.
## TO-DO ##
`ERROR: Function failed: Fetcher failure for URL: 'git://git.gnome.org/gtk-doc-stub'. Unable to fetch URL from any source` will happen the first time you run the build from scratch. This is a false error, as the repo is fetched and available. Restart the build, and it will proceed just fine. Needs to be fixed somehow.