Surftrak Fixit

Surftrak is a new flight mode in ArduSub 4.5.

Surftrak Fixit is a BlueOS extension that can diagnose and fix Surftrak problems.

Install

• Select Extensions in the sidebar
• Click on Surftrak Fixit
• Click Install

Releases

v1.0.0-beta.2

• Display DISTANCE_SENSOR messages from well-known sources
• Check for bad RNGFND1_TYPE
• Add FIX IT buttons for some problems
• UI improvements, works in dark mode

v1.0.0-beta.1

• First version

Developer Notes

Install a custom version

• Select Extensions in the sidebar, then the Installed tab
• Click on the + icon in the lower right
• Enter the following information, modifying as necessary
• Click Create

Extension Identifier

clydemcqueen.surftrak_fixit

Extension Name

surftrak_fixit

Docker image

clydemcqueen/surftrak_fixit

Docker tag

v1.0.0-beta.2

Custom settings

{
  "ExposedPorts": {
    "8080/tcp": {}
  },
  "HostConfig": {
    "ExtraHosts": ["host.docker.internal:host-gateway"],
    "PortBindings": {
      "8080/tcp": [
        {
          "HostPort": ""
        }
      ]
    }
  },
  "Env": ["MAVLINK2REST_URL=http://host.docker.internal/mavlink2rest/v1"]
}

Testing with ArduSub SITL

Surftrak Fixit looks only at MAVLink messages, so it can be tested against ArduSub SITL and mavlink2rest.

See these instructions to set up ArduSub SITL.

Terminal 1: run SITL

cd $ARDUPILOT_HOME
mkdir run_sim
cd run_sim
nice ../Tools/autotest/sim_vehicle.py -G -D -l 47.6302,-122.3982391,-0.1,270 -v Sub -f vectored --out "127.0.0.1:14551"

Terminal 2: run mavlink2rest in a docker container

docker build --build-arg TARGET_ARCH=x86_64-unknown-linux-musl -t mavlink/mavlink2rest .
docker run --rm --init -p 8088:8088 -p 14550:14550/udp --name mavlink2rest mavlink/mavlink2rest

Terminal 3: run Surftrak Fixit

./main.py --mavlink2rest_url http://localhost:8088/v1

Terminal 4: emulate a MAVLink rangefinder

./fake_rf.py --ping

You can see the extension UI at http://localhost:8080/