Inbetriebnahme am 19. Juni 2026

Jedes Kommando, jeder Fehler und jede Lösung der MAVLink- und UART-Inbetriebnahme.

Originaltitel im Repository: Development session — 19 June 2026

Historical summary of the first complete developer-USB, Raspberry Pi UART, and MTF-01P MAVLink bring-up. Current procedures live under docs/; live state is recorded under state/ and params/.

No arming, motor, movement, flight-mode, throttle, mission, or actuator command was issued during this session.

#Result

• The developer machine received a FlywooF745 heartbeat over USB and completed a read-only SYSID_THISMAV request.
• The Pi communicated bidirectionally with the controller over physical UART4.
• MTF-01P range and optical-flow telemetry reached the Pi through ArduPilot.
• drone-console and drone-health were introduced and exercised.
• The command channel was proven with a safe AUTOPILOT_VERSION request and acknowledgement; flight control itself was deliberately not tested.

#Verified topology at the time

The working Pi UART wiring was:

Pi pin 8  / GPIO14 / TXD -> FC R4
Pi pin 10 / GPIO15 / RXD <- FC T4
Pi pin 6  / GND           -> FC GND

TX and RX must cross. The Pi's red power wire was connected to a regulated 5 V source, never raw battery voltage.

#Important findings

#Restricted hardware visibility

The controller initially appeared absent because the restricted command environment did not expose host USB devices. Retrying with direct host-device access showed USB ID 1209:5741, /dev/ttyACM0, and the stable ArduPilot /dev/serial/by-id/... link.

#MAVProxy dependencies

MAVProxy 1.8.74 needed future at runtime, and its default ADS-B module needed Pillow. Both became declared project dependencies. Generated mav.tlog, mav.tlog.raw, and mav.parm files were added to .gitignore.

#Pi UART wiring

The first /dev/serial0 test received no bytes in either direction. Swapping the green and blue signal wires on the Pi produced a controller heartbeat and a successful SYSID_THISMAV response, proving bidirectional communication.

#Live parameters differed from the older backup

The 9 June backup had UART4 disabled/differently configured, while the live controller on 19 June reported UART4 as MAVLink2 at 115200. This established the rule that dated backups must not substitute for a fresh live export.

#Sensor transport

A ten-second disarmed sample produced 296 messages, including valid range and optical-flow records. This proved transport and sensor power only; the stationary sample did not validate optical-flow navigation, calibration, or altitude hold.

#Command channel

The Pi sent MAV_CMD_REQUEST_MESSAGE for AUTOPILOT_VERSION and received an accepted acknowledgement plus the requested message. This proved the outbound MAVLink path without changing mode, parameters, armed state, or actuators.

#Safety blockers observed

The live controller then reported disabled arming checks, geofence, and GCS failsafe settings. Those historical values must not be assumed current, but they were sufficient to rule out flight testing during the session.

Before any later Pi-controlled flight, the session identified the need to:

1. restore all arming checks and resolve every failure;
2. define link-loss and pilot-override behavior;
3. configure a meaningful indoor boundary;
4. validate range/flow estimates and mounting;
5. exercise mode and setpoint behavior in simulation; and
6. progress through propeller-off and restrained tests.

#Troubleshooting lessons

#Follow-up documentation

• Direct USB connection
• Flight-controller configuration
• Sensor recording
• Staged MAVLink control