[solved] ssh: connect to host XXX.XXX.XX.XX port 22: Connection refused

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$ sudo apt install openssh-server
$ sudo service ssh restart


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Tuing PID parameters in QGroundcontrol (2)

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Based on tips for tuning PX4 PID parameters written in my previous post [1] or even using the default values directly, you will be able to fly your vehicle freely in manual or stabilized flight mode.   However, if you are using an unique vehicle (usually assembly by yourself and only equipped with sensors you desire) and struggling for finding the best PID parameters for your applications. I think following 8 tips will help you to get ideal PID parameters.  This is the vehicle I made based on LHI QAV250 fiber frame, with TX2, high-speed camera, etc.[2]  Tip1:  Tuning order: Rate controller -> attitude controller -> position controller The PX4 controllers are layered [3], which means a higher-level controller passes its results to a lower-level controller. Thus the PID tuning needs to be done from lowest-level controller to highest-level controller. Tip2:  Check if  PWM_MIN  is set correctly. Remove propellers Arm the vehic...
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Matlab Pixhawk Support Package installation (Windows)

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1. Download the pixhawk support package [1] 2. Open MATLAB R2017b and navigate to the file location. 3. Click "PX4PSP_v3_0_4_351_R2017b" and install it 4. Create a folder for firmware download path (ex: D/PX4) 5. Setting bash environment for windows 10 [2]  (1) Active "Windows subsystem for linux" (2) Download and install Ubuntu (3) Using the terminal like in Ubuntu environment ex: 6. Install all necessary toolchain with " windows_bash_nuttx.sh " [3] or using Cygwin Toolchian [4] or [5] (python27 would show in following folder) 7. Key in command " PixhawkPSP(' D:\PX4 ') " in the Matlab 8. Make sure windows 10 bash and python path are correct => Validate paths 9. Download firmware to the folder we specify before and then validate firmware. 10. Selecting cmake configuration [6] 11. Build firmware *Error: make command not found   Solution: [7] T...
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ROS1 vs ROS2 Comprehensive Comparison (5)

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Parameter Usage Comparison Feature ROS1 ROS2 Parameter Storage Global parameter server (centralized) Node-specific parameters (distributed) Lifetime Exists as long as ROS master is running Exists only as long as the node is running Parameter Namespacing /global_param # Global parameter /node_name/param_name # Node parameter # All parameters are node-specific # Access using node name and parameter name /node_name: # Node param_name # Parameter Declaring Parameters Not required, parameters can be created on-the-fly Must be declared before use (with exceptions) C++ API (Setting Parameters) // Global parameter ros::param::set("/global_param", value); // Node parameter ros::NodeHandle nh; nh.setParam("param_name", value); // Must declare first t...
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