As we talk under Sinamics topic I would like to run a new discussion to get help how to run Pixhawk with PI model 3. At the beginning let me list parts that I own already and next I will try to clarify what I would like to achieve. Current configuration : DJI F450 frame with ECS 420 lite + 2312E motors; Naza v2 flying controller; Android mini PC with small UVC camera for preview and clone of SJ4000 for recording ( it can work as UVC camera ) Platinet LTE 4 USB modem with Wi-Fi ( details ) more ...less important parts Target configuration: stay and keep DJI F450 frame with ECS 420 lite incl. 2312E motors update flying controller from Naza to Pixhawk ( I have already bought a clone from Radiolink company radiolink RPI 3 + small* UVC camera for preview and clone of SJ4000** for recording ( it works aslo as UVC camera ) Platinet LTE 4 USB modem with Wi-Fi small UAV camera : TITANIUM - after removing it from plastic box it very small and cheap USB 2.0 camera module forever sc200 ( sj4000 clone ) At the beginning I would like to connect small camera with PI3 only to check this part of configuration (using local area network). Next add pixhawk and modem and replace those part on my frame. Then I will be thinking about full telemetry but those 2 basic steps are the most important for me. As I wrote in previous post I did install UAV package on my PI and following error appear in gstreamer log: After initial run I have following code available in gstreamer log: mmal: mmal_vc_component_create: failed to create component 'vc.ril.camera' (1:ENOMEM) mmal: mmal_component_create_core: could not create component 'vc.ril.camera' (1) mmal: Failed to create camera component mmal: main: Failed to create camera component mmal: Camera is not detected. Please check carefully the camera module is installed correctly Setting pipeline to PAUSED ... Pipeline is PREROLLING ... ERROR: from element /GstPipeline:pipeline0/GstH264Parse:h264parse0: No valid frames found before end of stream Additional debug info: gstbaseparse.c(1155): gst_base_parse_sink_event_default (): /GstPipeline:pipeline0/GstH264Parse:h264parse0 ERROR: pipeline doesn't want to preroll. Setting pipeline to NULL ... Freeing pipeline ... if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } My camera works very well with Cheese in UVC mode and additionally I did test it with android platform with various software. Camera works perfect in UVC mode with Cheese application on and same RPI and additionally it works well with android also. Can you help and let me know what should I do to run gstreamer related part at the beginning ? Radiolink Pixhawk PIX Flight Controller Has anyone tested this version of Pixhawk ? http://radiolink.com.cn/doce/product-detail-116.html Read more...

[unknown] At the beginning I would like to connect small camera with PI3 only to check this part of configuration (using local area network). Next add pixhawk and modem and replace those part on my frame. Then I will be thinking about full telemetry but those 2 basic steps are the most important for me. Hi Mocart UAVcast using gStreamer to handle the video transmission. gStreamer does not support all usb cams. Im not familiar with the sj4000 type, and which format its streaming. Do you see /dev/video0 in your RPI when it's connected? If so, then type lsusb , and see if RPI is recognizing the camera. Also type dmesg and see the verbose output from RPI when usb cam is attached. When i look at your gstreamer log, it looks like you are running gStreamer/UAVcast in PiCam mode? correct? This wont work for USB cam. PiCam is used for the original Ribbon cameras . Your best best is C920 or C615 for UAVcast, but i think it wont work. You can find the UAVcast gStreamer pipelines here https://github.com/UAVmatrix/UAVcast/blob/master/script/camera.sh Few years back i managed to stream video from GoPro cams in collaboration with USB Easycap device , but the lateancy was huge compared to C920 or PiCam. This way converts the AV to digital What is the respons when typing in RPI shell and camera connected? v4l2-ctl --all if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } Just for your information, the pipeline i was using for easycap was #!/bin/bash modprobe ipv6 rmmod stk1160 modprobe easycap 'bars=0' WIDTH=360 HEIGHT=288 ip=<Your-GCS-DDNS> v4l2-ctl --set-fmt-video=width=320,height=240,pixelformat=1 v4l2-ctl -i 1 gst-launch-1.0 -v \ rtpbin name=rtpbin v4l2src device=/dev/video0 \ ! video/x-raw,width=640,height=480,framerate=15/1 \ ! queue \ ! omxh264enc target-bitrate=900000 control-rate=3 \ ! "video/x-h264,profile=high" \ ! h264parse \ ! queue max-size-bytes=10000000 \ ! rtph264pay pt=96 config-interval=1 \ ! rtpbin.send_rtp_sink_0 rtpbin.send_rtp_src_0 \ ! udpsink port=5000 host=10.0.0.225 ts-offset=0 name=vrtpsink rtpbin.send_rtcp_src_0 \ ! udpsink port=5001 host=10.0.0.225 sync=false async=false name=vrtcpsink udpsrc port=5000 name=vrtpsrc \ ! rtpbin.recv_rtcp_sink_0 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); }

Sinamics When i look at your gstreamer log, it looks like you are running gStreamer/UAVcast in PiCam mode? correct? This wont work for USB cam. PiCam is used for the original Ribbon cameras . Your best best is C920 or C615 for UAVcast, but i think it wont work. You are right. I did select wrong camera type and will check it at the beginning. I don`t wont to use easycap device and hope both will work with UAVcast after this update. I will update this post soon with this verbose output.

Sinamics I did change setup and now C920 exist as a UVC camera. Gstreamer log looks better. Answering your questions: Sinamics If so, then type lsusb , and see if RPI is recognizing the camera Bus 001 Device 006: ID 045e:0745 Microsoft Corp. Nano Transceiver v1.0 for Bluetooth Bus 001 Device 005: ID 1e4e:0103 Cubeternet Bus 001 Device 004: ID 046d:c52b Logitech, Inc. Unifying Receiver Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512/9514 Fast Ethernet Adapter Bus 001 Device 002: ID 0424:9514 Standard Microsystems Corp. Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Camera is available under Cubeternet name. Sinamics Also type dmesg and see the verbose output from RPI when usb cam is attached. Please find attached file , I don`t know which line displays me this note. how to check it ? Sinamics What is the respons when typing in RPI shell and camera connected? This looks good also it think. Below full listing Driver Info (not using libv4l2): Driver name : uvcvideo Card type : USB2.0 Camera Bus info : usb-3f980000.usb-1.3 Driver version: 4.1.18 Capabilities : 0x84200001 Video Capture Streaming Extended Pix Format Device Capabilities Device Caps : 0x04200001 Video Capture Streaming Extended Pix Format Priority: 2 Video input : 0 (Camera 1: ok) Format Video Capture: Width/Height : 640/480 Pixel Format : 'YUYV' Field : None Bytes per Line: 1280 Size Image : 614400 Colorspace : SRGB Flags : Crop Capability Video Capture: Bounds : Left 0, Top 0, Width 640, Height 480 Default : Left 0, Top 0, Width 640, Height 480 Pixel Aspect: 1/1 Selection: crop_default, Left 0, Top 0, Width 640, Height 480 Selection: crop_bounds, Left 0, Top 0, Width 640, Height 480 Streaming Parameters Video Capture: Capabilities : timeperframe Frames per second: 30.000 (30/1) Read buffers : 0 brightness (int) : min=-127 max=127 step=1 default=-8193 value=0 contrast (int) : min=0 max=127 step=1 default=57343 value=64 saturation (int) : min=0 max=255 step=1 default=57343 value=64 hue (int) : min=-16000 max=16000 step=1 default=-8193 value=0 brightness (int) : min=-127 max=127 step=1 default=-8193 value=0 contrast (int) : min=0 max=127 step=1 default=57343 value=64 saturation (int) : min=0 max=255 step=1 default=57343 value=64 hue (int) : min=-16000 max=16000 step=1 default=-8193 value=0 gamma (int) : min=16 max=500 step=1 default=57343 value=100` if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); }

mocart Could you post the output of: ls dev/ if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); }

[unknown] root@raspberrypi:/dev# ls autofs log ppp stdin tty29 tty51 vc-cma block loop0 ptmx stdout tty3 tty52 vchiq btrfs-control loop1 pts tty tty30 tty53 vcio bus loop2 ram0 tty0 tty31 tty54 vc-mem cachefiles loop3 ram1 tty1 tty32 tty55 vcs char loop4 ram10 tty10 tty33 tty56 vcs1 console loop5 ram11 tty11 tty34 tty57 vcs2 cpu_dma_latency loop6 ram12 tty12 tty35 tty58 vcs3 cuse loop7 ram13 tty13 tty36 tty59 vcs4 disk loop-control ram14 tty14 tty37 tty6 vcs5 fb0 mapper ram15 tty15 tty38 tty60 vcs6 fd media0 ram2 tty16 tty39 tty61 vcs7 full mem ram3 tty17 tty4 tty62 vcsa fuse memory_bandwidth ram4 tty18 tty40 tty63 vcsa1 gpiomem mmcblk0 ram5 tty19 tty41 tty7 vcsa2 hidraw0 mmcblk0p1 ram6 tty2 tty42 tty8 vcsa3 hidraw1 mmcblk0p2 ram7 tty20 tty43 tty9 vcsa4 hidraw2 mmcblk0p5 ram8 tty21 tty44 ttyAMA0 vcsa5 hidraw3 mmcblk0p6 ram9 tty22 tty45 ttyprintk vcsa6 hidraw4 mmcblk0p7 random tty23 tty46 ttyS0 vcsa7 hidraw5 mqueue raw tty24 tty47 uhid vcsm hwrng net rfkill tty25 tty48 uinput vhci initctl network_latency shm tty26 tty49 urandom video0 input network_throughput snd tty27 tty5 usb xconsole kmsg null stderr tty28 tty50 v4l zero

Ok.. Then try to copy paste one of the pipelines bellow into your RPI shell. What is the verbose output when using these? gst-launch-1.0 -v \ rtpbin name=rtpbin v4l2src device=/dev/video0 \ ! video/x-raw,width=352,height=288,framerate=15/1 \ ! queue \ ! omxh264enc target-bitrate=500000 control-rate=1 \ ! "video/x-h264,profile=high" \ ! h264parse \ ! queue max-size-bytes=10000000 \ ! rtph264pay pt=96 config-interval=1 \ ! rtpbin.send_rtp_sink_0 rtpbin.send_rtp_src_0 \ ! udpsink port=5000 host=10.0.0.225 ts-offset=0 name=vrtpsink rtpbin.send_rtcp_src_0 \ ! udpsink port=5001 host=10.0.0.225 sync=false async=false name=vrtcpsink udpsrc port=5005 name=vrtpsrc \ ! rtpbin.recv_rtcp_sink_0 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } or gst-launch-1.0 -v \ v4l2src device=/dev/video0 \ ! video/x-raw,width=352,height=288,framerate=15/1 \ ! queue \ ! omxh264enc target-bitrate=500000 control-rate=1 \ ! "video/x-h264,profile=high" \ ! h264parse \ ! queue max-size-bytes=10000000 \ ! rtph264pay pt=96 config-interval=1 \ ! udpsink host=10.0.0.225 port=5000 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); }

in both cases there are errors output for option 1 Setting pipeline to PAUSED ... Pipeline is live and does not need PREROLL ... Setting pipeline to PLAYING ... New clock: GstSystemClock ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Internal data flow error. Additional debug info: gstbasesrc.c(2933): gst_base_src_loop (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: streaming task paused, reason not-negotiated (-4) Execution ended after 0:00:00.035948758 Setting pipeline to PAUSED ... Setting pipeline to READY ... Setting pipeline to NULL ... Freeing pipeline ... if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } and 2nd option Setting pipeline to PAUSED ... Pipeline is live and does not need PREROLL ... Setting pipeline to PLAYING ... New clock: GstSystemClock ERROR: from element /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: Internal data flow error. Additional debug info: gstbasesrc.c(2933): gst_base_src_loop (): /GstPipeline:pipeline0/GstV4l2Src:v4l2src0: streaming task paused, reason not-negotiated (-4) Execution ended after 0:00:00.036119540 Setting pipeline to PAUSED ... Setting pipeline to READY ... Setting pipeline to NULL ... Freeing pipeline ... if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); }

Good morning mocart I see from the logs that you get streaming task paused, reason not-negotiated (-4) if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } I think gStreamer is not supporting the video format and throws an negotiated fault. Maybe someone else has better answers to get this camera up an running, but i think you will have problems using gstreamer and the sj4000 cam. You can find other <a href="https://www.google.no/search?q=ERROR%3A%20from%20element%20%2FGstPipeline%3Apipeline0%2FGstV4l2Src%3Av4l2src0%3A%20Internal%20data%20flow%20error&oq=ERROR%3A%20from%20element%20%2FGstPipeline%3Apipeline0%2FGstV4l2Src%3Av4l2src0%3A%20Internal%20data%20flow%20error&aqs=chrome..69i57j69i58.479j0j7&sourceid=chrome&ie=UTF-8#q=%22gstbasesrc.c%282933%29%22%20ERROR:%20from%20element%20%2FGstPipeline:pipeline0%2FGstV4l2Src:v4l2src0:%20Internal%20data%20flow%20error&*" rel="ugc noopener nofollow" target="_blank" rel="ugc noopener nofollow" target="_blank">people wiht the same problem , and i cant see they found any solution. If you want a stable camera without to much hassel, i recommend that you get a PiCam or C920. They are reliable and gives you a pretty good image quality,

Hello Sir, Last 2 days I spent to check all my USB/UVC cameras aginst those pipelines. None of them are working and seems I have to follow your suggestion and buy another one 🙁. My budget is crying but ... have to buy it. C920 can be the best solution but it extremly expansive so I think the best for me should be to buy locally RPI cam ( PIcam as I understand correctly ). I did check local shops and auctions and I found something like this : auction . Can you take a look and let me know if this one can be fine ? Sorry about Polish version but I prefer to buy it in country first ( not to wait too long time ). If not I will try to order it for ebuy or alibaba but then neet to wait for it. If you think I need to buy different model please let me know. BTW I didn't found separate tag related supported cameras on this forum and maybe it`s good to add it as a separate one similar to LTE and GPS tags.

RPI3 with Pixhawk

mocart

a ok got it. did you try to decode gstreamer pipeline on android tabs ? Better for me to use it than lap.

Sinamics

mocart
no, i never tried that. You might find an app to handle that for you.. Or you could just use VLC, but as said, the lateancy is huge compared to gstreamer.

mocart

No, i will follow your approach to reduce latency is this is huge for VLC. I have working solution now and latency using cloud services increase 60sec so I want to reduce it first . After this i wil try android apps.
Maybe in meantime I will replace my current tab to any china one that suport multsystem boot and w10 /W7 as booting platform. Prefer to have tablet than lap. 😉
Nevermind .... now I will be waiting for your update and thinking about LTE connection. I feel it wont be so easy to have well werking connection on my ground station now. I using ORANGE provider and love to block everything by deafult. I got auto-reconnect modem that require pin authorization to be done before sim connect to net. I cannot remove this restriction as an user. Thinking about it ...i afraid they are not supporting post forwarding and external IP address . Sorry for my bad English , I`m not native and do no like to correct quick post lol

Sinamics

mocart
I just commit my changes to github,
Try to install as describred in first post Sinamics

sudo apt-get install git 
sudo git clone https://github.com/UAVmatrix/UAVcast.git 
cd UAVcast/install 
sudo ./install.sh

mocart

updated. g-streamer works and i have access to video feed from CGS PC. Should i check something else with this updated version without pixhawk connected ?

Sinamics

mocart
Thx
Could you post the content of the folowing files

/boot/config.txt
/boot/cmdline.txt

mocart

config .txt

# For more options and information see
# http://www.raspberrypi.org/documentation/configuration/config-txt.md
# Some settings may impact device functionality. See link above for details

# uncomment if you get no picture on HDMI for a default "safe" mode
#hdmi_safe=1

# uncomment this if your display has a black border of unused pixels visible
# and your display can output without overscan
#disable_overscan=1

# uncomment the following to adjust overscan. Use positive numbers if console
# goes off screen, and negative if there is too much border
#overscan_left=16
#overscan_right=16
#overscan_top=16
#overscan_bottom=16

# uncomment to force a console size. By default it will be display's size minus
# overscan.
#framebuffer_width=1280
#framebuffer_height=720

# uncomment if hdmi display is not detected and composite is being output
#hdmi_force_hotplug=1

# uncomment to force a specific HDMI mode (this will force VGA)
#hdmi_group=1
#hdmi_mode=1

# uncomment to force a HDMI mode rather than DVI. This can make audio work in
# DMT (computer monitor) modes
#hdmi_drive=2

# uncomment to increase signal to HDMI, if you have interference, blanking, or
# no display
#config_hdmi_boost=4

# uncomment for composite PAL
#sdtv_mode=2

#uncomment to overclock the arm. 700 MHz is the default.
#arm_freq=800

# Uncomment some or all of these to enable the optional hardware interfaces
#dtparam=i2c_arm=on
#dtparam=i2s=on
#dtparam=spi=on

# Uncomment this to enable the lirc-rpi module
#dtoverlay=lirc-rpi

# Additional overlays and parameters are documented /boot/overlays/README

# Enable audio (loads snd_bcm2835)
dtparam=audio=on

# NOOBS Auto-generated Settings:
hdmi_force_hotplug=1
start_x=1
gpu_mem=128' 

cmdline.txt
'dwc_otg.lpm_enable=0 console=ttyAM'A0,115200 console=tty1 root=/dev/mmcblk0p7 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait'

Sinamics

Thank you
do you use RPI3?

mocart

Yes , RPI3 Model B

Sinamics

if you run this line, does it say anything?

grep -q "^Revision\s*:\s*[ 123][0-9a-fA-F][0-9a-fA-F][0-9a-fA-F]08[0-9a-fA-F]$" /proc/cpuinfo

mocart

Sinamics nope

Sinamics

if you start install script again
Which version does it say? it should detect RPI version 1, 2 or 3

example

RPI 3 Detected

mocart

Sinamics after install.sh command it was installed again. I think now more elements were added.
there is no information related RPI version. I cannot find it. Packuage re-install again similar to previous one.

Sinamics

It seems like uavcast does not recognise the rpi3. I need to look into this tomorrow. This will only affect the ser2net, so I would recommend to wait until tomorrow before moving onto pixhawk and telemetry.

mocart

Sinamics
HI Bernt, can you share with me previous version of camera.sh or let me know how to run streaming from command prompt ? There are some gstreamer viewer on android market and I would like to review them and check if any of then can allow me to view pipeline on mobile devices.
I not thinking about QtGstreamer HUD for android wrote by PD ( its my dream one - but I don't know how to configure it , too advanced for me ) but i found very simple one form PL located company link and maybe this one can read UAVmatrix output. I`m looking for any option to have preview on android because taking laptop with me everytime is very difficult.

Sinamics

mocart
Do you looking for the pipeline needed on the receiver end? Have you tried the one mentioned in UAVcast thread? I will be home in 30min.. will be back then

mocart

Sinamics Yes and no. After our last session and updated version I cannot run UAV script and camera.sh. I searching internet to find any way to run pileline on android and I found some apps that are able to view stream ( like shared one ). First of all I would like to check if your output pipeline can be read by their viewer but I cannot run it. They are POlish company so after thest I can write tchem localy if yout pipeline ( output ) can be read by this camera viewer software. Patrick`s software is too advanced for me now , I still to not understand gstreamer details so want to check more simply application like this PI camera viewer

Sinamics

sendt you a PM mocart

mocart

Sinamics
Hi Bernt, sorry rof bothering you again but I do not have working pipeline still. After yesterday session I can start camera with systemctl start UAVcast command but I cannot display this pipeline on client gstreamer side. Something wrong.
I did check configuration files on RPI side today and I found another UAVcast instance instaled inside UAVcast folder. its look like I have now following tree:
/root/UAVcast/UAVcast
in both subfolders there are duplicated configuration files and catalog ( drone config, dronestart ) but instances are different I thing because there are small changes inside droneconfig.cfg code. As sample I can highlight:
- 1st instance ( /root/UAVcast/DroneConfig.cfg ) - this one include parameter "Ethernet" for GSM_Connect variable
- 2nd instance (root/UAVcast/UAVcast/DroneConfig.cfg) - there is no "Ethernet" parm but only "Other"

Please let me know what should I do.

update: camera.sh from 1st instance allows me to start pipeline and this is problem with 2 various version.
how i can fix it? just remove manualy /root/UAVcast/UAVcast path ?

Sinamics

mocart I did check configuration files on RPI side today and I found another UAVcast instance instaled inside UAVcast folder. its look like I have now following tree:
/root/UAVcast/UAVcast

Just delete all of them and install a fresh one.

rm -rf UAVcast/

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