Open FPV VTX开源代码之树莓派3B+ Bookworm部署更新

1. 源由

现在OpenIPC的msposd做了部分更新：

• 【支持】betaflight/inav/ardupilot图标库(支持仅支持其中一个)
• 【支持】地面站OSD/嵌入式OSD功能(前期停留在研发测试阶段)
• 【问题】目前启动脚本/端口规划方面尚未定型

本地之前的一套树莓派 Bookworm Rover需要更新下配置脚本。

2. 状态

【1】wfb-ng 开源代码之树莓派3B+ Bookworm无线配置
【2】msposd 开源代码之树莓派3B+ Bookworm部署
【3】libcamera_mon 开源代码之树莓派3B+ Bookworm部署

3. 更新

虽然从脚本上看，目前OpenIPC并未支持Ground Station OSD功能。

• [Feature] Support msposd ground station OSD

但是相信会很快支持，为此 jetson-fpv 先行切换到MAVLink端口14551作为地面站OSD的UDP接收端口。

$ diff -uN fpv-drone.sh /usr/local/bin/fpvdrone/fpv-drone.sh
--- fpv-drone.sh        2025-01-19 17:42:24.987273259 +0800
+++ /usr/local/bin/fpvdrone/fpv-drone.sh        2025-01-19 17:26:43.352025597 +0800
@@ -6,8 +6,8 @@

 # Start the wfb_tx process
 /usr/bin/wfb_tx \
-  -p 17 \
-  -u 14560 \
+  -p 16 \
+  -u 14551 \
   -K /etc/drone.key \
   -B 20 \
   -M 1 \
@@ -30,6 +30,7 @@

 /usr/local/bin/fpvdrone/libcamera_mon &

+sleep 5
 # Start libcamera-vid and pipe its output to GStreamer while logging to /tmp/libcamera/logs
 /usr/bin/libcamera-vid \
   --verbose \
@@ -50,7 +51,7 @@
 /usr/local/bin/fpvdrone/msposd \
   --master /dev/ttyUSB0 \
   --baudrate 115200 \
-  --out 127.0.0.1:14560 \
+  --out 127.0.0.1:14551 \
   --matrix 11 \
   --ahi 1 \
   -r 30 \

4. OpenIPC修改

• 增加UDP 14551端口报文发送
• 调整地面站OSD配置的msposd命令

4.1 原始telemetry脚本

root@openipc-ssc338q:~# cat telemetry.bak
#!/bin/sh
fw=$(grep "BUILD_OPTION" "/etc/os-release" | cut -d= -f2)
keydir=/etc

if [ -e /etc/datalink.conf ]; then
        . /etc/datalink.conf
fi

if [ -e /etc/telemetry.conf ]; then
        . /etc/telemetry.conf
fi

if [ ! -e /usr/bin/telemetry_rx ] || [ ! -e /usr/bin/telemetry_tx ]; then
        ln -fs /usr/bin/wfb_rx /usr/bin/telemetry_rx
        ln -fs /usr/bin/wfb_tx /usr/bin/telemetry_tx
fi

start_drone_telemetry() {
        if [ "$router" -lt 2  ]; then
                if [ "$one_way" = "false" ]; then
                        telemetry_rx -p "$stream_rx" -u "$port_rx" -K "$keydir/$unit.key" -i "$link_id" "$wlan" > /dev/null &
                fi
                telemetry_tx -p "$stream_tx" -u "$port_tx" -K "$keydir/$unit.key" -B "$bandwidth" \
                        -M "$mcs_index" -S "$stbc" -L "$ldpc" -G "$guard_interval" -k "$fec_k" -n "$fec_n" \
                        -T "$pool_timeout" -i "$link_id" -f "$frame_type" "$wlan" > /dev/null &
        fi
}

start_gs_telemetry() {
        if [ "$one_way" = "false" ]; then
                telemetry_tx -p "$stream_tx" -u "$port_tx" -K "$keydir/$unit.key" -B "$bandwidth" \
                        -M "$mcs_index" -S "$stbc" -L "$ldpc" -G "$guard_interval" -k "$fec_k" -n "$fec_n" \
                        -T "$pool_timeout" -i "$link_id" -f "$frame_type" "$wlan" > /dev/null &
        fi
        telemetry_rx -p "$stream_rx" -u "$port_rx" -K "$keydir/$unit.key" -i "$link_id" "$wlan" > /dev/null &
}

case "$1" in
        start)
                echo "Loading MAVLink telemetry service..."
                if [ "$router" -eq 1 ] || [ "$fw" = "lte" ]; then
                        mavlink-routerd -c /etc/mavlink.conf > /dev/null 2>&1 &
                else
                        if [ "$router" -eq 2  ]; then
                                msposd --channels "$channels" --master "$serial" --baudrate "$baud"  \
                                        --out 127.0.0.1:$(($port_tx + 1)) -osd -r "$fps" --ahi "$ahi" > /dev/null &
                        else
                                mavfwd --channels "$channels" --master "$serial" --baudrate "$baud" -p 100 -t -a "$aggregate" \
                                        --out 127.0.0.1:$port_tx --in 127.0.0.1:$port_rx > /dev/null &
                        fi
                fi

                if [ "$fw" = "fpv" ] || [ "$fw" = "venc" ]; then
                        start_${unit}_telemetry
                fi
                ;;

        stop)
                echo "Stopping telemetry services..."
                killall -q telemetry_rx
                killall -q telemetry_tx
                killall -q mavlink-routerd
                killall -q mavfwd
                killall -q msposd
                ;;

        *)
                echo "Usage: $0 {start|stop}"
                exit 1
                ;;
esac

4.2 脚本telemetry差异

root@openipc-ssc338q:~# diff -uN telemetry.bak  /usr/bin/telemetry
--- telemetry.bak
+++ /usr/bin/telemetry
@@ -23,6 +23,10 @@
                telemetry_tx -p "$stream_tx" -u "$port_tx" -K "$keydir/$unit.key" -B "$bandwidth" \
                        -M "$mcs_index" -S "$stbc" -L "$ldpc" -G "$guard_interval" -k "$fec_k" -n "$fec_n" \
                        -T "$pool_timeout" -i "$link_id" -f "$frame_type" "$wlan" > /dev/null &
+       else
+               telemetry_tx -p "$stream_tx" -u "$(($port_tx + 1))" -K "$keydir/$unit.key" -B "$bandwidth" \
+                        -M "$mcs_index" -S "$stbc" -L "$ldpc" -G "$guard_interval" -k "$fec_k" -n "$fec_n" \
+                        -T "$pool_timeout" -i "$link_id" -f "$frame_type" "$wlan" > /dev/null &
        fi
 }

@@ -43,7 +47,7 @@
                else
                        if [ "$router" -eq 2  ]; then
                                msposd --channels "$channels" --master "$serial" --baudrate "$baud"  \
-                                       --out 127.0.0.1:$(($port_tx + 1)) -osd -r "$fps" --ahi "$ahi" > /dev/null &
+                                       --out 127.0.0.1:$(($port_tx + 1)) -r "$fps" --ahi "$ahi" > /dev/null &
                        else
                                mavfwd --channels "$channels" --master "$serial" --baudrate "$baud" -p 100 -t -a "$aggregate" \
                                        --out 127.0.0.1:$port_tx --in 127.0.0.1:$port_rx > /dev/null &