We’ll use QGroundControl for the GCS. First, verify that PX4 is running on your VOXL 2 using the following
If it is not running, it can be enabled to run on boot using the following:
systemctl enable voxl-px4
In order to connect to QGC, ensure that your host computer is connected to the same network as your Sentinel.
If PX4 is running and both devices are connected to the network then Sentinel should automatically detect the host PC running QGC and connect.
First follow the steps to connect to the 5G network.
In order to connect QGC over the LTE or 5G network, a VPN will be needed in order to complete the bridge from the cellular network to the
A typical use case of an LTE connection is to connect a drone to a Ground Control Station (GCS) such as QGroundControl. Typically the GCS is also connected to an LTE network. In this case, both the drone and the GCS have been assigned IP addresses on the LTE network that are private to the carrier network. This prevents the drone from directly connecting to the GCS since their IP addresses are not visible to each other over the internet.
There are a variety of ways to solve this issue. ModalAI uses a VPN as the preferred solution.
This diagram shows how the VPN solution works. In this example a server is allocated with a static IP address,
188.8.131.52. You can easily set your own server up with Google Cloud Platform, Amazon Web Services, Microsoft Azure, etc. Ubuntu is our preferred OS for our servers. Our VPN is setup using the OpenVPN software package.
In the example above, once the drone has connected to the AT&T network, it obtains the IP address
10.47.x.y and the GCS, once connected, obtains the address
With the OpenVPN server software running on the cloud server and OpenVPN client software on both the drone and the GCS, the devices can now connect and get VPN IP address assignments. In this diagram, the drone is assigned
10.8.0.6 and the GCS is assigned
10.8.0.8. The drone can now communicate directly to the GCS using the
10.8.0.8 IP address.
It is desirable for the drone and the GCS to always get the same IP address when connecting to the VPN. This is possible by assigning each separate network endpoint a unique security certificate. When each endpoint connects using it’s certificate it can be configured to receive the same address every time.
Sentinel comes with OpenVPN pre-installed
In order to use OpenVPN on Sentinel, you will need to supply a configuration file and the certificates / keys for your VPN. These files can be placed in the directory
The following is an example of running OpenVPN as a daemon:
cd /etc/openvpn openvpn --daemon --script-security 2 --config vpn-key.ovpn
If connection succeeds, you should get a connected status in QGC.