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The 2013 document is probably completely outdated now, so don't rely to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):
<configure name="HOST"
name="192.168.2.$(AC_ID)"/>
if AC_ID is equal to the last number of the address (with this you can
also reuse the same airframe file for several drones if their IP is
following the same principle), or:
<configure name="HOST" name="192.168.2.10"/>
to fix the value.
Now the GCS should know where to send the autopilot code (based on HOST
param). In the other direction, the drone is broadcasting an UDP stream,
so it is not needed to know the GCS IP.
I hope this clarify a bit. Don't hesitate to improve the documentation
on the wiki.
Gautier
Le 16/03/2017 à 08:38, cTrippen a écrit :
Hi there Gautier,
Thank you for the reply.
I would like to confirm a few things, if I may.
At what point do you use the configure script? In the IMAV2013
document, it
telnets the whole command to the drone once paparazzi is loaded to it.
Is
this the same point where I use the configure script? or can I set
these
things before build/upload? I have telnet'd to the drone post upload
but
couldn't find the file.
My proposed command will be -
ardrone.py configure_network --channel auto wifiNetworkName
desiredDroneIP(192.168.2.10) managed
Regarding the airframe file, ard2_basic.xml, my router IP is
192.168.2.254,
so the entry in the file will be -
line 7
<configure name="HOST" value="192.168.2.$(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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