lil-hopps

Small rust-powered quadcopter stack. (Visualizer, Simulation, Firmware, Messaging)

CI Status

Project Layout

• lil-broker: Framework for time-series data storage and querying
• lil-hopps: Quadcopter code
• lil-sym: Simulation code w/ vizualizer
• lil-helper: Utility / framework code.

Quick Luanch of current SIL + GCS

Launch Ardupilot Docker Container:

docker run -it --rm -p 5760:5760 radarku/ardupilot-sitl

or

This will always keep it running and run it in the correct mode for ARM

docker compose up -d

Run Quad SIL from the lil-launcher crate (TCP Server)

cargo run --bin quad_sil -- -c tcpout:localhost:5760 -a 5 
                                  ^ Ardupilot SIL     ^ How many secs to arm

Run the lil-gcs crate (TCP client)

cargo run --bin lil-gcs 

Hardware Deploy

Build using dev container + corss

1. Build using docker compose

docker-compose build

2. Launch using compose

docker-compose -up -d

3. Attach to rust dev container

docker-compose attach rust-dev

4. Build

cross build --release --bins --target arm-unknown-linux-gnueabihf

Deploy to RPI

ansible-playbook -i ansible/inventory.ini ansible/playbooks/deploy_quad_idle.yml