Re: [Paparazzi-devel] Connect AR Drone 2.0 through router, then multiple drones

[cTrippen]

Hi there Wilco,
 Thanks, that seems to have done the trick. It now gets past the 'waiting
for telemetry'. Haven't test flown yet, as I have to do some hardware
tidying up (GPS cable needs shortening). 

 Now onto multi-drones, when they arrive.

Regards
Carl


wv-tud wrote
> Hi Carl,
> 
> I am using the bebop2 though a router (the process of configuring is
> slightly different) and I notice you don't seem to have a MODEM_HOST
> configure in your airframe file.
> At least in my case I have to configure the MODEM_HOST as the broadcast
> address of the network (usually 192.168.*.255) like this:
> <configure name="MODEM" value="192.168.40.$(AC_ID)" />
> 
> <configure name="MODEM_HOST" value="192.168.40.255" />
> 
> Hope this solves your problem!
> 
> Wilco
> 
> 
> On Sat, Mar 18, 2017, 17:26 Gautier Hattenberger <

> gautier.hattenberger@

>> wrote:
> 
> Hi,
> 
> 
> Le 18/03/2017 à 02:13, cTrippen a écrit :
>> Good morning Gautier,
>>   I ran the configure_network via telnet and am now able to connect to
>> the
>> router and ping the ard2. GOLD :)
>>
>>   I opened PPRZ and changed the AC_ID to 10, and selected the
>> ENAC/quadrotor/ard2_basic.xml as the airframe file. This is the airframe
>> file that I modified earlier. The build failed with the following message
> -
>>
>> Fatal error: exception Failure("File not found:
>> conf/airframes/ENAC/quadrotor/ard2_10.xml")
>> make[1]: ***
>> [/home/ct/paparazzi/var/aircrafts/ardrone2/ap/generated/airframe.h] Error
> 2
> This is because the calibration files for each drone is in a separated
> file with the AC_ID in the name:
> https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/ENAC/quadrotor/ard2_101.xml
>>
>>   Then I swapped back to the examples/ardrone2.xml airframe file,
>>       added the configure_name="HOST" name="192.168.2.$(AC_ID)" line, and
>> build went through. The GCS then was held up at "waiting for telemetry".
>>   I am thinking that the adr2 either can't talk back or is stuck within
> it's
>> own code.
> After flashing, the program runs immediately. It is then possible to log
> with telnet and check that the code (ap.elf) is still running. You can
> also restart it by hand. The program should be in /data/video/paparazzi.
>>
>>   Also, if I wanted to configure the ard2 back to its original network
> setup,
>> can I run the configure_network script and take out the host reference in
>> the airframe file?
> yes, you may need to specify the correct host address the option --host
> of the python script
>>
>>   As an aside, if you did actually have the incorrect name for the SSID,
>> instead of fixing via console, if you new what SSID you gave the drone,
>> could you just rename your router to match and then connect?
> yes, I guess it would work as well
>>
>>   Happy to update the wiki once I know what to put up there (and how to
>> do
>> the update) :)
>>
>> Thanks again
>>   Carl
>>
>>
>> Gautier Hattenberger-3 wrote
>>> Hi,
>>>
>>> The 2013 document is probably completely outdated now, so don't rely to
>>> much on it.
>>>
>>> Here is my situation to connect several ARDrones:
>>>
>>> - First, you can run the configuration script independently of anything.
>>> The script is located in the sw/tools/parrot folder on the ground
>>> station, and it is in fact doing a mix of telnet/ftp commands to produce
>>> the required changes (getting/settings parameters, executing commands,
>>> uploading/downloading files).
>>>
>>> let's say your router has IP 192.168.2.254 with SSID 'wifiNetworkName'
>>> and your drone has 192.168.2.10. You can choose the AC_ID (from the
>>> paparazzi center, top left part) to be 10, it can help later but it is
>>> not mandatory. The script command would be:
>>>
>>> ./ardrone.py configure_network wifiNetworkName 192.168.2.10 managed
>>>
>>> say 'yes' if it asks to update the wifi script if not done before and
>>> restart the drone with the router running. After boot, it should connect
>>> to the router, check with 'ping 192.168.2.10'. If it fails (wrong SSID
>>> usually), you'll need to connect to the drone using the direct serial
>>> console (http://wiki.paparazziuav.org/wiki/AR_Drone_2#Console_Fixing)
>>> which is really annoying (that's why there is a warning).
>>>
>>> - Then you need to configure the airframe to define the drone IP (HOST
>>> parameter):
>>>
>>> &lt;configure name=&quot;HOST&quot;
>>> name=&quot;192.168.2.$(AC_ID)&quot;/&gt;
>>>
>>> if AC_ID is equal to the last number of the address (with this you can
>>> also reuse the same airframe file for several drones if their IP is
>>> following the same principle), or:
>>>
>>> &lt;configure name=&quot;HOST&quot; name=&quot;192.168.2.10&quot;/&gt;
>>>
>>> to fix the value.
>>>
>>> Now the GCS should know where to send the autopilot code (based on HOST
>>> param). In the other direction, the drone is broadcasting an UDP stream,
>>> so it is not needed to know the GCS IP.
>>>
>>> I hope this clarify a bit. Don't hesitate to improve the documentation
>>> on the wiki.
>>>
>>> Gautier
>>>
>>>
>>> Le 16/03/2017 à 08:38, cTrippen a écrit :
>>>> Hi there Gautier,
>>>>    Thank you for the reply.
>>>>    I would like to confirm a few things, if I may.
>>>>    At what point do you use the configure script? In the IMAV2013
>>>> document, it
>>>> telnets the whole command to the drone once paparazzi is loaded to it.
> Is
>>>> this the same point where I use the configure script? or can I set
>>>> these
>>>> things before build/upload? I have telnet'd to the drone post upload
>>>> but
>>>> couldn't find the file.
>>>>
>>>>    My proposed command will be -
>>>>    ardrone.py configure_network --channel auto wifiNetworkName
>>>> desiredDroneIP(192.168.2.10) managed
>>>>
>>>>    Regarding the airframe file, ard2_basic.xml, my router IP is
>>>> 192.168.2.254,
>>>> so the entry in the file will be -
>>>>
>>>>        line 7
>>> 
> <configure name="HOST" value="192.168.2.$(AC_ID)"/>
>>>>    Is the allocation of IP to the drone dynamic? and therefore
> successive
>>>> drones will be numbered in sequence? or does the $(AC_ID) retain its
>>>> current
>>>> number? In which case, I will have to configure their default IP.
>>>>
>>>>    Also, do I need to select this airframe file in the GCS? I am
> currently
>>>> using the ardrone2.xml from the examples folder.
>>>>
>>>>    Regarding your warning, 'trouble to connect after restart', is that
>>>> only if
>>>> choosing the 'autostart' option?
>>>>
>>>> Thanks again
>>>> Carl
>>>>
>>>>
>>>>
>>>> --
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>>
>>
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