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AsctecPelicanBasics
jueves,6dejuniode2013
BasicWiFicommunicationsetuppart1
ThispostadressessthestepsneededtosetupthecommunicationbetweentheHighLevelProcessor
(HLP)ofthequadrotorandagroundstation(suchasalaptop,computer)throughaWiFiconnection
(betweenthegroundstationandtheAtomboard)andaserialconnection(betweentheAtomboardand
theHLP).Itisbasedontheofficialasctec_mav_frameworkROSTutorialbutshowssomeadditional
problemsaddressedintheconfiguration.
Itisseparatedintwoparts:thefirstonedealswithmorehardwarerelatedissues,whilethesecond
oneismorerelatedtothesoftwareconfiguration.
IasumethatyouhavetheAsctecQuadrotorPelicanrunningwithUbuntu10.04,havealready
installedROS(thiswasdoneusingROSFuerte,butshouldworkwithotherversions),haveinstalled
theasctec_mav_frameworkpackageandhaveaWiFiconnectionwithWPA2.Ontheotherside,I
asumeyouwillbeusingacomputerwithUbuntuandROSasagroundstation(thiswastestedusing
Ubuntu12.04andROSFuerte),andhaveinstalledtheasctec_mav_frameworkonthiscomputer
also.
TheideaistobeabletoinitializethequadrotorwithoutusingtheLVDSscreen(soitisreadytofly),
forthistheSecureShell(SSH)protocolavailableinUbuntuisused.SSHallowsyoutologintothe
quadrotorandstarttheasctec_mav_frameworkROSpackageusingtheterminalfromyour
groundstation.Thiswayyourquadwillbeabletoreceivecommandsandstart/stopexecutionwithout
theneedofamouse,keyboardorscreen.

AtomboardHLPConnection
ThefirststepistochecktheconnectionbetweentheAtomboardandtheHLP.Thisshouldbedone
usingthecablewitha"loop"ontheHLPside.

ThisshouldconnectoneoftheserialportsoftheAtomboard(/dev/ttyUSB0or/dev/ttyUSB1,I
suggestthefirstone,butincaseyouneedtousethe/dev/ttyUSB1remembertochangethe
configurationparametersaccordingly).

Archivodelblog
2013(3)
julio(2)
junio(1)
BasicWiFicommunicationsetup
part1

Datospersonales
Pino
Vertodomiperfil

WiFiSetup
ItisneededthatthequadrotorconnectsautomaticallytotheWiFiatstartup.Forthis,anewnetwork
managerissuggested:WPASupplicant.
ToinstallWPAsupplicantinyourquadrotor:

sudo apt-get install wpasupplicant

Thenuninstallothernetworksmanagers(forexampleWICDorNetworkManager):

sudo apt-get remove networkmanager

sudo apt-get remove wicd

ThenextstepistoconfigureittoconnecttoyourWiFinetwork.Runthisonaterminal(assumingyour
wirelessnetworkiscalledmy_wifi_network,thisisknownasSSID,andthepasswordis
my_password):

wpa_passphrase my_wifi_network my_password

Thiswillshowinthesameterminalsomethinglikethis:

network={
ssid="my_wifi_network"
#psk="my_password"
psk=5dd3c4758a980d50d133d0cd43dc6a0460211f397925522d74e9e3b622420304
}

Now,youshouldcreateafiletostorethisconfigurationinformation(forexamplein
/etc/wpa_supplicant/wpa_supplicant.conf).Onewaytodothisisinanewterminalrun:

sudo gedit /etc/wpa_supplicant/wpa_supplicant.conf

Thiswillopengedit,whereyoucanpastethenetworkinformationdirectlyandsavechanges.
Thenextstepistoopenthe/etc/network/interfacesfileandeditthewlan0section. Openit
usinganyeditor,forexample:

sudo gedit /etc/network/interfaces

Andmodifythewlan0sectionsoitlookslikethis:

auto wlan0
iface wlan0 inet dhcp
wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf
post-up /sbin/iwconfig wlan0 power off

ThewpaconflineloadsthefilecreatedinthelaststepwiththeWiFiconfiguration.Thepostupline
disablespowermanagementpermanently,thisisdonetoavoidhighlatencies.Youcancheckthe
powermanagementstatususingthecommand:

iwconfig wlan0 |grep "Power Management"

SerialPortsAccessandGrub
IncaseyouareusingUbuntu12.04,youneedtorunthefollowingcommandinordertousetheserial
portswithoutrootpermissions(thisaddstheusertothedialoutgroup):

sudo adduser <username> dialout

Tospeedupbootandremovesomei8042relatedmessagesaddthefollowinglineinthefile
/etc/default/grub

GRUB_CMDLINE_LINUX_DEFAULT="i8042.noaux=1"

Andupdategrub:

sudo update-grub

ConfigureStaticIP
ToallowthequadrotorandthegroundstationtoeasilylocateeachotherwhileusingSSHitis
convenienttogivebothastaticIPandgivebothmachinesnames.TogivestaticIPsthereareatleast
twomethods:
1.Usingtherouterconfiguration:
YoucanconfigureyourroutertogiveanIPbasedontheMACaddressofthedeviceconnected.Here
isanexampleofhowtodothis:http://resource.dlink.com/connect/masteringstaticipaddresses/
2.Settingupeachmachine:
Insomecasestherouterdoesn'tsupportstaticIPsbyMAC,oryoudon'thaveaccesstothem.Inthis
sectionIwillexplainhowIsetupeachmachinetoaskforastaticIPaddress.
2.1Settingupthegroundstation:
AssumingyouareusingUbuntu12.04.Youcanclickonthewirelessiconandchooseedit
connections.

Thenselectthe"wireless"tab,chooseyourconnectionandclickEdit.
Thenyoushouldchecktheoption"Connectautomatically"andthengototheIPv4Settingstab.
Choose"Manual"asMethod.OntheAddressessection,clickAdd.Ifyouareonyourprivate
network,youcanusuallychooseasaddresstheip192.168.*.*(forexample192.168.1.52).The
netmaskusuallyis255.255.255.0,andthegateway192.168.*.1.Don'tforgettheDNSserveraddress.
Afterthisreconnecttoyourwirelessnetwork.

Tocheckthateverythingworkedfine,youcanrunthecommandifconfigonaterminal,this
shouldprinttheconnectioninformationintheterminal.Checkthewlan0sectionandtheipnextto
inetaddr.
2.2Settingupthequadconnection
BasedontheinstructionsgivenheretosetupastaticIP,youshouldagainmodifythe
/etc/network/interfacesfilesoitlookslikethis:

auto wlan0
iface wlan0 inet static
address 192.168.0.2
netmask 255.255.255.0
network 192.168.0.0
broadcast 192.168.0.255
gateway 192.168.0.1
dns-nameservers 192.168.0.1, 192.168.0.2
wpa-conf /etc/wpa_supplicant/wpa_supplicant.conf
post-up /sbin/iwconfig wlan0 power off

Noticenowthestaticvalueinsteadofdhcpandtheotherparametersadded(address,netmask,
etc.).
Nowyoushouldreboot,andafterloggingyoushouldrunthecommandifconfigandchecktheIP
iscorrectlyset.
Thecheckdiskerror
Weareconfiguringourquadsoitisabletobootandconnecttotheinternetautomatically,butyou
mayencounterthefollowingproblem.
IfyouturnofftheAtomboardanddisconnectanypowersourcefromit(eitherbatteryoralternative
powersources),youmayfindthatthenexttimeyouturnitonityouencountersomethingalongthe
linesof:

Checking root file system...fsck from util-linux-ng 2.16.1

humel-root: Superblock last mount time (Wed Oct 7 18:53:39 2009,
now = Sat Jan 1 00:00:14 2000) is in the future.
humel-root: UNEXPECTED INCONSISTENCY; RUN fsck MANUALLY.
(i.e., without -a or -p options)

This(Ibelieve)iscausedbeforethelastmounttimeisstoredbuttheinternaldateisresetwhenthere
isnopowersource,soitregistersthelastmounttimeasinthefutureandforcestocheckthediskfor
errors.
Toavoidthis,Ifollowedtheinstructionsfoundhere.Youmusteditthe/etc/e2fsck.conffileand
addthefollowing:

[problems]
# Superblock last mount time is in the future (PR_0_FUTURE_SB_LAST_MOUNT).
0x000031 = {
preen_ok = true
preen_nomessage = true

}
# Superblock last write time is in the future (PR_0_FUTURE_SB_LAST_WRITE).
0x000032 = {
preen_ok = true
preen_nomessage = true
}

Thistellse2fsckthattheproblemcanbeautofixedwithoutmentioningit.
ThenextpartshowshowtosetupSSHcommunicationandconfigureROStoworkonboth
machines.

PublicadoporPinoen22:05
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Etiquetas:asctec,basic,communication,pelican,quadrotor,wifi

1comentario:
JooAntnioAmarante 31deenerode2014,9:36
Hi,
MygrouphavejustacquiredtheAscTecPelican,andIamworkingwithit.Isetupanadhoc
connectionbetweenthePelicanandmycomputer.Itactuallyworksfine,butIalwayshaveto
createanewconnectionwhenIshutdownthesystem.Iamworkingonit,andthereseems
tobeasolution.Anyway,Iwaswonderingifwecouldstayincontacttohelpeachother,and
maybeworkonmoretutorials!Thanksinadvance,JooAntnio
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