README.md

#Connecting a Raspberry Pi Zero W to R1

While the Skills SDK allows you to execute a limited set of python directly onboard the TX1, you may want to execute your own code in a linux environment that you can directly control.

One way to accomplish this is by attaching a Raspberry Pi Zero to the R1 via the usb-c port. The usb port can power your Pi, but you'll need to configure the Pi as a usb network adapter that treats the Skydio R1 as the host computer.

Boot your Pi and make the following changes.

1. add dtoverlay=dwc2 to /boot/config.txt
2. insert modules-load=dwc2,g_ether to /boot/cmdline.txt after root-wait

Make sure your Pi is set up to connect to a wifi network, so that you can ssh into it later.

Now plug the Pi into the usb-c port of the Skydio R1. While on, the R1 will provide power over usb-c to run the Pi.

ssh in over your wifi network, and then run the following command: sh sudo modprobe; sudo ifconfig usb0 192.168.13.2 up

This will assign a static ip address to the Pi. Now Try to ping the R1

```sh
ping 192.168.13.1
```

If that works, you're all set! Try copying the client folder to your pi and running the examples. If that didn't work, check the connection to the R1, and try reversing the usb port.

You'll want to create a startup script that executes the ifconfig command on boot, and whatever other scripts you need.

```sh
cp setup_network.sh ~/
sudo cp pi_network_config.service /etc/systemd/system/
sudo systemctl enable pi_network_config
```