Installation

Whoopnet Installation

Setup

• Configure BetaFPV Micro RF Transmitter
• Building Betaflight Firmware https://github.com/nfreq/betaflight

Instructions

Build Betaflight ( Not tested! Use caution when flight testing!!! )

• Modified Betaflight 4.5.1 Firmware
• Approx 92hz Telemetry (Includes, AccX,AccY,AccZ,VelX,VelY,VelZ,FC-Timestamp)
• Must run ELRS F1000HZ (1:2) for this to work. Otherwise telemetry bandwidth will saturate which results in much lower update rate.

git clone https://github.com/nfreq/betaflight

make arm_sdk_install

make configs

HDZero Mobula6 ECO 2024

make CRAZYBEEF4DX EXTRA_FLAGS="-D'RELEASE_NAME=4.5.1-imu-osd-mod' -DCLOUD_BUILD -DUSE_DSHOT -DUSE_OSD_HD -DUSE_PINIO -DUSE_SERIALRX -DUSE_SERIALRX_CRSF -DUSE_TELEMETRY -DUSE_TELEMETRY_CRSF -DUSE_VTX"

• Betaflight Setup

• Pairing

• ROS2 Installation https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html

• Foxglove Studio

Testing ROS2 and Whoopnet

Calibration

• Settings up Kalibr with ROS1 Docker

Instrinsics

• Static Camera Calibration
• Static IMU Calibration

Extrinsics

• Camera+IMU Calibration