Companion Computer — PX4 (Vind-Roz)

Companion computer configuration, service files, and living documentation for the Vind-Roz platform — a Raspberry Pi 5 companion running PX4-based drone and rover builds.

Contents

Path	Description
system_companion.md	Main reference doc — hardware, software stack, ROS2 nodes, WFB-NG, services, topics
System_files/	Tracked backups of live system config files (mirrors /etc/, /boot/, etc.)
System_files_list.txt	List of files synced by the auto-backup script
scripts/system_files_sync.sh	Auto-backup script (rsync → git commit → annotated tag)
logs/system_files_sync.log	Sync run log
Setup_Procedure_for_Relay_Station.docx	Relay station (vind-rly) setup guide

Quick Reference

Flight Controller: Custom Pixhawk 6X-RT (NXP i.MX RT1176) — PX4 target px4_fmu-v6xrt Companion: Raspberry Pi 5 (8 GB), Ubuntu 24.04 LTS, ROS2 Jazzy PX4 Version: v1.16.0-rc1 (custom build)

UART Map:

Port	Role	Baud
/dev/ttyAMA0	FC MAVLink → mavlink-router	921600
/dev/ttyAMA2	TFmini lidar	115200
/dev/ttyAMA4	FC uXRCE-DDS → MicroXRCEAgent	921600

Key Services:

Service	Role
mavlink.router.service	MAVLink FC ↔ GCS/network
microxrce-agent.service	uXRCE-DDS bridge FC ↔ ROS2
rc_control_node.service	RC input → camera switch + shutdown/reboot
vision_streaming.service	FFmpeg camera → RTP → WFB-NG
tfmini.service	TFmini lidar → /fmu/in/distance_sensor
ros2_px4_translation_node.service	PX4 ↔ ROS2 message translation
system_files_sync.timer	Daily auto-backup of config files to this repo

Camera Switching (RC CH9):

• PWM 1012 → front camera /dev/video0
• PWM 1514 → bottom camera /dev/video2
• PWM 2014 → split/PiP (both cameras)
• Config: ros2_ws/src/rc_control/config/rc_mapping.yaml

Vision streaming config (remotely editable): /etc/vision_streaming.conf

Auto-Backup

System config files are automatically synced to System_files/ on boot and daily via system_files_sync.timer. Each sync creates a git commit and annotated tag sync-YYYYMMDD-HHMM.

Relay Station

Relay (vind-rly) bridges WFB-NG to the ground station:

• WFB tunnel: gs-wfb @ 10.5.5.77/24
• SSH port forward: relay :2222 → drone 10.5.5.87:22
• See system_companion.md §14 and Setup_Procedure_for_Relay_Station.docx

PX4 MAVLink Utility

Script: scripts/px4_mavlink.py

Connects via mavlink-router TCP:5760 — no conflict with mavlink-router or WFB-NG.

python3 ~/codex-work/scripts/px4_mavlink.py monitor       # live STATUSTEXT / SYS_STATUS logs
python3 ~/codex-work/scripts/px4_mavlink.py ls            # list SD card (/fs/microsd)
python3 ~/codex-work/scripts/px4_mavlink.py ls <path>     # list specific path
python3 ~/codex-work/scripts/px4_mavlink.py rm-faults     # delete all fault_*.log from SD
python3 ~/codex-work/scripts/px4_mavlink.py shell <cmd>   # run NuttShell command on FC

Requires: pymavlink (already installed)

Release History

Tag	Branch	Commit	Date	Key Changes
v1.0.0	release	36cd704	2026-03-08	Initial release — README, ROS2 nodes, topics, camera switch, auto-backup
v1.0.1	release	422f4d2	2026-03-08	Clean up sync list
v1.0.2	release	1de24c4	2026-03-08	bump v1.3.7 — WFB-NG diagnostics logged
v1.0.3	release	ea9a5c9	2026-03-09	fix wifibroadcast.cfg, mavlink_sys_id
v1.0.4	release	0ebf862	2026-03-09	add px4_mavlink.py: PX4 MAVLink utility
v1.0.5	release	74f3c48	2026-03-09	auto-sync: include px4_mavlink.py
v1.0.6	release	6bf1749	2026-03-09	wfb-ng: fix mavlink streams, increase FEC
v1.0.7	release	b1236a9	2026-03-15	Security: replace hardcoded PAT with SSH URL; remove sudo password from docs
v1.0.8	master	a60791f	2026-04-17	WFB-NG channel 157→161; MEMORY.md + system_companion.md updated