Table A1.
Configurations of the two embedded hardware devices following initial experiments.
| Device | Nano | Pi | ||
|---|---|---|---|---|
| Software | Type | Installation | Type | Installation |
| OS | Jetpack Ubuntu 18.04 | Etcher | Ubuntu Mate 18.04 | Cross-compilation Pi 3B |
| Swap | Swap | 2048 MB | Zram/Swap | 256/1052 MB |
| ROS | Melodic | Package Manager | Melodic | Package Manager |
| MavRos | 0.33.4 | Source | 0.33.4 | Source |
| OpenCV | 3.4.6. | Source + Contrib | 3.4.6 | Source + Contrib Cross-compilation |
| Timesync | NTP | ntp.qut | NTP | ntp.qut |
|
Proprietary
Changes |
Power Mode | 0 | Serial Clock speed | Elevated-mavros |
| HDMI | disabled | HDMI | disabled | |
| WiFi | Powersaving disabled | WiFi | Powersaving disabled | |
| Power Supply | Barrel Jack 4A | Display Service | disabled | |
| SD-Card | 32 GB SanDisk SDHC U3 | SD-Card | 32 GB SanDisk SDHC U1 | |
| Serial Port Config | 921600 8N1 | Serial Port Config | 921600 8N1 | |
| Bluetooth | disabled-Serial Port | |||