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How to Operate Perseverance
This page describes how to operate Perseverance using the Graphical User Interface (GUI) and the python executables on the vehicle.
Before powering up the vehicle, be sure that all the electrical and mechanical components are sitting in their proper locations and all wires are tucked in the vehicle nicely. Check that no circuit boards or exposed wires are in any location to cause short circuits. Here are some of the primary components to check.
- The kill switch is plugged into BMS and BMS's MOSFET trigger is plugged into the MOSFET board
- All USB devices are plugged into the USB Hub, and the USB Hub is plugged into the Nvidia Jetson TX2.
- The SEACON cable female connector (located on the back IO panel) has its Ethernet connector plugged into the Jetson.
- All boards are connected to their respective power sources.
- Backplane is connected to the 19v and 6v Buck-Boost converters.
- DVL is connected to 19v output from the Backplane.
- AHRS is connected to the USB Hub.
- Pressure Transducers are plugged into the Backplane on their Mulex connector.
- Jetson TX2 is connected to 19v from the Backplane.
- BMS will be powered from the balance leads of the LIPO battery.
Once you are sure that all the components are plugged in properly, connect the battery to the system and the balance leads on the battery to BMS. Also be sure to push the power button on the Jetson Tx2 if the development board is being used.
Now that the vehicle is powered up, make sure the Seacon cable is connected to vehicles back IO port and the ethernet end of the Seacon cable is connected to your computer. Approximately 10-20 seconds after the computer is started up, you should be able to check connection with the computer by pinging the IP address configured for its ethernet port from the command line.
ping 192.168.1.14
If connection is successful, data packets should be exchanged successfully.
Trouble Shooting If pings are not successful, first make sure that the lights on the your Ethernet port are on (green solid and orange blinking), this signifies usually that data is able to be transferred. Also make sure that you set a static IP on your ethernet port to an IP Address that is 192.168.1.*, where the last number can be anywhere between 0 and 255, but cannot be 14 since the Jetson is already taking that address. The default gateway should be 255.255.255.0.