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Installation

SOFTWARE:

  • Plug BeagleBone into computer via miniUSB cable. It has a g_ether gadget that you should be able to ping at 192.168.7.2. It should DHCP-assign your computer an IP of 192.168.7.1, but usually fails to do so, in which case just set it statically.
  • ssh [email protected] Password is temppwd.
  • You will need internet. Plug ethernet into network and edit /etc/network/interfaces to enable: auto eth0 iface eth0 inet dhcp
  • cd ~
  • git clone https://github.com/shield-ai/rtlizer.git
  • sudo apt-get install socat build-essential cmake libusb-1.0-0-dev
  • git clone git://git.osmocom.org/rtl-sdr.git
  • mkdir -p rtl-sdr/build
  • cd rtl-sdr/build
  • cmake -DDETACH_KERNEL_DRIVER=on -DINSTALL_UDEV_RULES=on ..
  • make
  • sudo make install
  • sudo ldconfig
  • cd ~/rtlizer/server
  • make
  • ln -s rtlizer/start.sh start.sh
  • sudo nano /etc/rc.local
    • before the exit 0, add /home/debian/start.sh &
  • Now set ethernet to static to talk to skywalker. Edit /etc/network/interfaces: auto eth0 iface eth0 inet static address 192.168.0.10 netmask 255.255.255.0

On the quad:

  • cd /etc/systemd/network
  • edit lidar.network and set IP that talks to the beaglebone (where the LIAR is normally) to be 192.168.0.4
  • sudo apt install socat

On the ground station:

  • sudo apt install socat libgtk-3-dev
  • cd ~
  • git clone https://github.com/shield-ai/rtlizer.git
  • cd rtlizer/client
  • make

HARDWARE:

  • Physically install BeagleBone on Skywalker quadrotor
  • Provide 5V to barrel jack, or miniUSB port if necessary
  • Connect the ethernet cable that would go to a LIDAR
  • Plug NanoSDR into USB port, MCX-SMA adapter into NanoSDR, and antenna into SMA adapter

Usage

On the beaglebone, do nothing, this should start automatically. Note: see ~/rtlizer/start.sh. If you set fake_data to true, it will send random numbers, and if false, it will send a spectrum analysis.

On skywalker, do nothing, the skywalker script will run socat UDP4-RECV:5555 TCP4-LISTEN:8888.

On the ground station, find the robot's IP. Run fake_ground_station <IP> or real_ground_station <IP>, respective of the value of fake_data on the beaglebone.