This repository contains scripts and services for use with ARK Electronics companion computer hardware.
Run the setup script on the device. This script can be safely run multiple times. Clean builds of each repository are performed on each run.
./setup.sh
- ARK Jetson Carrier
https://arkelectron.com/product/ark-jetson-pab-carrier/ - ARK Pi6X Flow
https://arkelectron.com/product/ark-pi6x-flow/
When running the setup.sh script you will be prompted to install the below services. The services are installed as systemd user services and conform to the XDG Base Directory Specification.
mavlink-router.service
This service enables mavlink-router to route mavlink packets between endpoints. The platform/target/main.conf file defines these endpoints and is installed at ~/.local/share/mavlink-router/main.conf. The USB on the FMU is connected directly to the companion for a reliable high speed chip to chip connection.
dds-agent.service
Bridges PX4 uORB pub/sub with ROS2. This service starts the DDS agent which connects with the PX4 uXRCE-DDS-Client. The FMU Telem1 port is connected directly to the Jetson UART. This service depends on the systemd-timesyncd service to synchronize system time with an accurate remote reference time source.
logloader.service
This service downloads log files from the SD card of the flight controller via MAVLink and optionally uploads them to PX4 Flight Review.
flight-review.service
This service hosts a local PX4 Flight Review server on port 5006
rtsp-server.service
This service provides an RTSP server via gstreamer using a Pi cam at rtsp://target.local:8554/fpv
polaris.service
This service receives RTCM corrections from the PointOne GNSS Corrections service and publishes them via MAVLink.
ark-ui-backend.service
This service provides an express backend for the ark-ui configuration UI. The ARK UI is hosted via nginx at target.local and provides tools such as firmware updating, wifi hotspot configuration, log viewing (coming soon), and more.
hotspot-control.service
This service creates a hotspot after booting if the device is unable to auto connect to a network. You can then use the ARK UI to configure your network.
rid-transmitter.service
This service starts the RemoteIDTransmitter service which broadcasts RemoteID data via Bluetooth.
jetson-can.service
This service enables the Jetson CAN interface.
jetson-clocks.service
This service sets the Jetson clocks to their maximum rate.
All installed scripts and binaries are placed at /usr/local/bin.