The FPV Camera serves a video stream as the first person view (FPV) of the Robot. This makes it possible to see the position of the Robot and anything in its way.

A 3d Printed mount for the bosh40x40 profile was made to stick a polie on it so that the camera gets a better view. The camera is set in a case which was designed with a litte roof to prevent raindrops on the lense.

[picture of 40×40 clip and camera case]

The following hardware is used for capturing and broadcasting the video stream:

• Raspberry Pi 4B (8GB) by element14
• Raspberry Pi CSI camera NoIR
• USB-C cable
• Heatsinks
• Fan
• Case
• SD-Card

The SD-Card has been flashed with an Ubuntu 20.10 arm64-raspi OS. The Pi is configured with the following user:

• user name: pi
• password: farmrobot

Its connectable via ethernet or build in wifi module.

An initial update has been run:

sudo apt update && sudo apt upgrade

Also some config changes have been made:

sudo nano /boot/firmware/config.txt [gpu_mem=512 ; start_x=1]

Using v4l2m2m encoder to have arm64 hardware support to efficiently encode a efficient h.265 stream which is sent via rtmp to a server which reencodes to hls to view video stream in a browser.

ffmpeg is used for data conversion:

cd/home/pi/ mkdir -p ~/ffmpeg_sources ~/ffmpeg_build mkdir -p ~/bin

(installing to /home/pi/bin/ to avoid conflicts with the system package folder)

According to https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu a lot of dependancies have to be installed beforehand:

sudo apt-get update -qq && sudo apt-get -y install \ autoconf \ automake \ build-essential \ cmake \ git-core \ libass-dev \ libfreetype6-dev \ libgnutls28-dev \ libsdl2-dev \ libtool \ libva-dev \ libvdpau-dev \ libvorbis-dev \ libxcb1-dev \ libxcb-shm0-dev \ libxcb-xfixes0-dev \ meson \ ninja-build \ pkg-config \ texinfo \ wget \ yasm \ zlib1g-dev \ libunistring-dev