XGC2

RK3566 configuration ​

The FS150 onboard computer is an RK3566 (Ubuntu 20.04 arm64 / ROS Noetic). Run the one-line script below to install and configure the onboard environment.

sh
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 --lang en

Installation steps ​

The setup process consists of five steps. You can select them from the menu after running the command above, or run each step directly.

1. Install base environment ​

Configure system package sources and install ROS components, build toolchains, and algorithm libraries:

  • Package sources: Switch Ubuntu Ports and ROS sources to the Tsinghua mirror, import the signing key, and add the XGC2 repository (https://xgc2.apt.xiaokang.ink).
  • ROS and system dependencies: Install ros-noetic-ros-base, ros-noetic-mavros, ros-noetic-mavros-extras (including the egm96-5 Geoid dataset), ros-noetic-vrpn-client-ros, chrony time synchronization, and core libraries such as Eigen, Boost, OpenCV, PCL, Protobuf, and gRPC.
  • Platform packages and toolchains: Install xgc2-acados, libxgc2-math-dev, libxgc2-state-machine-dev, libxgc2-hover-thrust-dev, libxgc2-xrpc-dev, along with Go 1.26.5, uv (Python 3.12), CMake 3.22.6, and the Python eclipse-zenoh SDK.
sh
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 baseline apply --user "$(id -un)"

2. Install onboard communication services ​

Install xgc2-fs150 and xgc2-fs150-mavlink-router, generating /etc/xgc2/fs150-mavlink-router/router.conf:

  • Connect to the PX4 flight controller over /dev/ttyS7 at 921600 baud.
  • Expose local UDP 127.0.0.1:14561 (for onboard MAVROS and parameter tools), remote UDP 0.0.0.0:14560 (for the ground station), and TCP port 5760.
sh
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 install-services

3. Enable and start services ​

Enable xgc2-fs150-mavlink-router.service at boot, start it immediately, and inspect its running status:

sh
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 enable-services
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 start-services
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 status-services

4. Configure onboard network ​

Write the field Wi-Fi profile and /24 static IPv4 address (default gateway and DNS 192.168.51.1), disable auto-connect on older Wi-Fi profiles, and activate the connection:

sh
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 configure-network -- --lan-address 192.168.51.XX --wifi-ssid <SSID> --wifi-password <PASS>
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 apply-network

5. Configure PX4 parameters and message rates ​

Verify or write the PX4 parameters required for indoor motion-capture flight, and configure flight-controller source rates and remote router output limits separately:

  • PX4 parameters: Verify or write SER_TEL1_BAUD=921600, EKF2_AID_MASK=24, EKF2_HGT_MODE=3, EKF2_EV_DELAY=50, COM_ARM_WO_GPS=1, and related parameters over 127.0.0.1:14561.
  • Flight-controller source rates (apply-fc-extras-rates): Independently set the source rates for ATTITUDE (30), ATTITUDE_QUATERNION (31), and LOCAL_POSITION_NED (32) on the flight-controller UART (default /dev/ttyS1) in /fs/microsd/etc/extras.txt (unselected streams remain unchanged; takes effect on the next flight-controller reboot).
  • Remote output rate limits (configure-remote-mavlink-rates): Cap the maximum forwarding rates of those three messages on remote UDP 14560 without lowering local 127.0.0.1:14561 source rates (saved to /etc/xgc2/fs150-mavlink-router/config.d/telemetry-rates.conf; pass unlimited to remove a limit).
sh
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 check-px4-params
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 apply-px4-params --no-reboot
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 configure-remote-mavlink-rates -- --attitude-rate 15 --attitude-quaternion-rate 15 --local-position-rate 15
curl -fsSL https://xgc2.xiaokang.ink/scripts/setup.sh | bash -s -- fs150 apply-fc-extras-rates -- --device /dev/ttyS1 --attitude-rate 50 --attitude-quaternion-rate 50 --local-position-rate 30