groundStation

Make Process

First, if submodules were not recursively added through git. Run this command if you have made any attempt to make vrpn manually. run

    git submodule update --init --recursive

Now that you have all of the files necessary.

cd into the groundstation folder.

	cd groundStation
	make vrpn
	make

run the program with privileges

	./BackEnd

Changing Defaults

If you wish to change the way the backend communicates to the quad and vice versa, look at src/config.h. This provides a list of environment variables which you can set and use for your computer or time of use.

Using

First, if you are using any adapters they must be started before the backend, so do so now. By default you will not be using adapters and you can continue if you do not intend to use this feature.

Next, the backend daemon must be running. Run the backend with

    ./BackEnd

Note: The backend requires root for bluetooth, but can run as a normal user with TCP, as long as the socket path is writable by the user.

Once the backend is running, various CLI tools can be used to view the state of the quad and send commands. Each of these tools is given as the first argument to the CLI program, for example, to get a node output from the quad, use cli getoutput. Note that the backend socket environment variable must be set to the same value as it was for the backend. The CLI program also supports busybox-style symbolic links. For example, if there is a symlink named getoutput that points to the cli binary, running the getoutput program will effectively run cli getoutput.

The names of the binaries is subject to change.

For a list of cli commands and more in depth usage explanations, use the --help flag.

    ./Cli --help

For help with the specific cli command you are running, use the --help flag once again.

    ./Cli getoutput --help

Example

In one terminal or screen, run the backend:

    ./BackEnd

This will activate the quad and the backend, and the backend will be available for connections from the frontend tools. One useful tool is the getnodes. In another terminal window, run

    ./Cli getnodes

or alternatively with symlinks

    ./getnodes

This will fetch the block_id, type_id and name of every node in the current graph

You can run any number of any combination of frontend tools at the same time. If you find it helpful, with this setup you can create a bash script that simply runs the same commands. This has been found to be of use when we are tuning.

There are a couple of already written bash scripts in the scripts/ folder.

Documentation

• Getting Started
• Packet Information
• Adapters
• WiFi Access Point
• Manual Assist Mode