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✎

Modified 2021-07-14 by Andrea Censi

Yes

✎

continue on

No

✎

check the voltage going into the BEC from the PDB
make sure that the BEC is wired the correct way (red wire goes to positive (+), black wire goes to negative (-))
Make sure that the OUT side of the BEC is soldered to the Pi Hat, and the IN side is soldered to the PDB
Make sure there are no stray wire hairs that are shorting out the 5V and the GND rails on the Pi Hat

Does the red light of the Pi stay on solid

✎

Modified 2021-07-14 by Andrea Censi

This is the small led near the SD card

Yes

✎

continue on

No

✎

If the light is blinking, then the Pi is not receiving enough power. Check the voltage coming out of the BEC. It should be a constant 5V

If the light does not turn on, then the Pi is not receiving any power.

Make sure that the Pi Hat is attached to the Pi all the way (there is no gap between the GPIO pins and the Pi Hat pin header).
Make sure that the OUT side of the BEC is soldered to the Pi Hat, and the IN side is soldered to the PDB
Make sure that there is not a short between the power and ground rails on the Pi Hat.
Make sure there are no stray wire hairs that are shorting out the 5V and the GND rails on the Pi Hat

make sure that the link is opening to the right address. Try manually typing 192.168.42.1:8081 and press enter in your browser
try another browser. Google Chrome is the browser and know to work correctly

If the drone is in managed mode (the drone is connected to your network):

make sure that you’re using the drone’s new ip address (it will no longer be 192.168.42.1). If you are trying to access the drone via hostname instead of ip, make sure that you append .local, so it would be duckie-drone.local:8081

Are there multiple screens running?

✎

Modified 2021-07-14 by Andrea Censi

In the terminal, type screen -ls. Were any sockets found?

Yes

✎

You will need to quit each socket found so that only one screen session is running. To do so: For each socket found, there is a name that looks like 2503.pts-0.duckiesky-drone. The four numbers at the beginning, 2503 are the session id. Run this command for each session id:

screen -S [session id] -X quit

For example, for this session it would be screen -S 2503 -X quit Be sure that the ‘S’ and ‘X’ are capitalized.

✎

continue

no

✎

Modified 2021-07-14 by Andrea Censi

If the last line printed out says that the USB is not plugged in:

make sure that the USB is plugged into any one of the four USB ports on the Pi.
make sure that the micro USB is plugged into the flight controller. (it should be hot glued in)
rerun python flight_controller_node.py.

If you get the error again:

make sure that the flight controller is lighting up in some way. If it is not, the micro USB port on the flight controller may be broken. Was it glued down?
try wiggling the micro USB end or using a different USB port on the Pi. If the flight controller never lights up, it may need to be replaced.

Is the PID controller running?

✎

Modified 2021-07-14 by Andrea Censi

Navigate to the PID controller node using “tick 2”: ` 2. Is the last line printed out PID Controller Started ?

Yes

✎

continue

No

✎

Try quitting the script with ctrl-c and rerunning it

Is the state estimator running?

✎

Modified 2021-07-14 by Andrea Censi

Navigate to the state estimator using “tick 3”: ` 3. Is the last line printed out Starting filter?

Yes

✎

continue

No

✎

make sure the flight controller node is running, as data is needed from the imu to start the filter.
continue with the checks to make sure the other sensors are working, then try rerunning this script

Is the vision node running?

✎

Modified 2021-07-14 by Andrea Censi

Navigate to the vision node using “tick 4”: ` 4. Is the last line printed out Vision started ?

Yes

✎

continue

No

✎

If the last few lines say something like: “out of resources other than memory”, then the issue is the physical connection from the camera to the Pi.

make sure that the sunny flap is shut (push on the small silver rectangle on the front of the camera and make sure it’s attached firmly)
make sure that the camera cable, or FFC (flexible flat cable) is fully inserted into the camera and the Pi.
On the Pi, make sure the blue side of the FFC is facing towards the USB cables
On the camera, make sure the blue side of the FFC is facing up
Make sure that there are no holes or rips in the FFC. This is a common issue: a crash could have caused a tear, or a hole could have been made when soldering. If this is the case, you will need a new FFC
rerun the vision script

Is the IR node running?

✎

Modified 2021-07-14 by Andrea Censi

Navigate to the IR node using “tick 5”: `5. Is the last line printed out Publishing IR ?

Yes

✎

continue

No

✎

make sure that the IR sensor wire is firmly plugged into the IR sensor

check the connections on the ADC:

make sure there are no shorts between adjacent pins
make sure there are no stray wire hairs causing shorts
make sure the yellow signal wire of the IR sensor connected to “A0” on the ADC
make sure there is 5V across the “V” and “G” pins
Try rerunning the node. If it still does not work, go back through Build Part 2 to check all of the wiring.

Is rosbridge running?

✎

Modified 2021-07-14 by Andrea Censi

Navigate to the rosbridge node using “tick 6”: ` 6. Does the last line printed out include the phrase Rosbridge websocket server started on port 9090 ?

Yes

✎

continue

No

✎

make sure you have no other programs using the same port as the Rosbridge server (9090)

try rerunning this script.

Does the web interface say connected?

✎

Modified 2021-07-14 by Andrea Censi

Open up or refresh the drone’s web interface: 192.168.42.1. Does the interface say “Connected” at the top?

Yes

✎

continue

No

✎

make sure you are not using Microsoft Edge browser. Chrome is the preferred browser

wait another 10 seconds and try refreshing again.

Is there data on the height readings graph?

✎

Modified 2021-07-14 by Andrea Censi

When you move the drone up and down, does the height reading graph change?

Yes

✎

continue

the yaw is flipped 180 degrees in the “Configuration” tab
the receiver is set to MSP RX Input (so that the FC can receive commands from the Pi over USB) in the “Configuration” tab
the ESC/Motor protocol is set to multishot in the “Configuration” tab.

Does the drone get off the ground?

✎

Modified 2021-07-14 by Andrea Censi

Yes

✎

continue

No

✎

make sure that the arrows inscribed on the propellers are visible from the top of the drone
make sure that the arrows on the props are in the same direction as the arrows on the motors
Take off the propellers from your motors and plug the battery into your drone. In cleanflight, navigate to the motors tab, click “I agree to the risks”, and try to spin up each motor. Make sure that each motor spins in the correct direction.
Make sure that when you spin up motor 1, the correct motor spins (the bottom right). Do this for all of the motors