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Freefly Astro

Warning

BEFORE YOU TAKE OFF THE ASTRO, ENSURE THE FOLLOWING SETTINGS ARE CORRECT. 

EKF2_EKF2_HGT_MODE = Range sensor
EKF2_RNG_AID = Range aid enabled
COM_OBL_ACT = Hold mode
COM_OBL_RC_ACT = Position mode
COM_QC_ACT = Hold mode
NAV_RCL_ACT = Land mode
COM_LOW_BAT_ACT = Warning
RTL_RETURN_ALT = 2.5 M
RTL_DESCEND_ALT = 2.5 M
Additionally, in the "Safety" settings, make sure that all RTL and takeoff altitudes are not greater than 2.5m.

IP Reservations

Device Name Username IP Address Password
astro1 192.168.1.121
astro2 192.168.1.122
astro3 192.168.1.123

Status Codes

Value Field Name Description
0 MAV_STATE_UNINIT Uninitialized system, state is unknown.
1 MAV_STATE_BOOT System is booting up.
2 MAV_STATE_CALIBRATING System is calibrating and not flight-ready.
3 MAV_STATE_STANDBY System is grounded and on standby. It can be launched any time.
4 MAV_STATE_ACTIVE System is active and might be already airborne. Motors are engaged.
5 MAV_STATE_CRITICAL System is in a non-normal flight mode (failsafe). It can however still navigate.
6 MAV_STATE_EMERGENCY System is in a non-normal flight mode (failsafe). It lost control over parts or the whole airframe. It is in mayday and going down.
7 MAV_STATE_POWEROFF System just initialized its power-down sequence, will shut down now.
8 MAV_STATE_FLIGHT_TERMINATION System is terminating itself (failsafe or commanded).

Manual

Freefly Astro Wiki

Mavros Installation

  1. Install the Auterion CLI. (Also see the :material-open-in-new: Auterion CLI Reference) 

    pip3 install auterion-cli

  2. Make sure the Astro is connected to WiFi or USB-C and run auterion-cli device discover. The Astro should show up in the list with a serial and IP address. Example output: 

    $ auterion-cli device discover

Found devices
selected     serial   version    addresses
---------- --------- --------- -----------------
           131502818  v3.5.8     {'192.168.1.121'}

Note: Use 'device select' command to select a device to interact with
      Use 'device deselect' command to reset selection

  3. To connect auterion-cli to the Astro, run auterion-cli device select [serial]. Example: 

    $ auterion-cli device select 131502818

Selected device with ID 131502818 on address 192.168.1.121

  4. Clone and build the astro_mavros package from GitLab: 

    git clone [https://[email protected]/autonomy-park-air-team/astro_mavros.git](https://[email protected]/autonomy-park-air-team/astro_mavros.git)
cd astro_mavros && auterion-cli app build

  5. Install the astro_mavros build to the selected Astro: 

    auterion-cli app install build/com.autonomy.astro_mavros.auterionos
    You should see output indicating the install was successful: 
    Installing artifact build/com.autonomy.astro_mavros.auterionos
Looking for the update artifact
Check if your device is online...
API: v2.2
Uploading artifact: 246Mit [00:19, 12.9Mit/s]
Waiting for the device to complete the installation
The device has been updated successfully

  6. Now, navigate to the Astro's IP in a web browser and go to the Apps section.

    Example URL

    For Astro 1, the URL would be :material-open-in-new: http://192.168.1.121/apps

  7. The astro_mavros application should now be listed. Click the gear icon and select Settings.

    Astro Mavros Settings

  8. Set the namespace for the Mavros ROS2 node corresponding to the current Astro.

    Astro Mavros Namespace

  9. Finally, restart the astro_mavros app by clicking Stop and then Start in the gear icon menu. You should now see namespaced Astro topics when you run ros2 topic list: 

    $ ros2 topic list
/astro1/actuator_control
/astro1/adsb/send
/astro1/adsb/vehicle
/astro1/altitude
/astro1/battery
/astro1/cam_imu_sync/cam_imu_stamp
/astro1/camera/image_captured
...

  10. Verify that messages are being published by echoing an active topic: 

    ros2 topic echo /astro1/battery
    Example output: 
    header:
  stamp:
    sec: 1728658560
    nanosec: 149730930
  frame_id: ''
voltage: 22.83100128173828
temperature: 0.0
current: -0.3400000035762787
charge: .nan
capacity: .nan
design_capacity: .nan
percentage: 0.5799999833106995
power_supply_status: 2
power_supply_health: 0
power_supply_technology: 3
present: true
cell_voltage:
- 3.81000018119812
- 3.81000018119812
- 3.808000087738037
- 3.8030002117156982
- 3.8010001182556152
- 3.7990002632141113
cell_temperature: []
location: id0
serial_number: ''