ARDrone: Unterschied zwischen den Versionen

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Zeile 1: Zeile 1:
−
= ARDrone =
+
= AR.Drone =
  
  
−
Parrot produces a very nice quadcopter called "ARDone"
+
Parrot produces a very nice quadcopter called "AR.Done"
  
 
Homepage: http://ardrone.parrot.com/parrot-ar-drone/usa/
 
Homepage: http://ardrone.parrot.com/parrot-ar-drone/usa/
  
−
In Vienna you can get them at [http://www.parrot.com/catalog/pos/parrot/ar-drone/AT/stores/mediamarkt-at Mediamarkt] for 300,- EUR
+
In Vienna you can get them at [http://www.parrot.com/catalog/pos/parrot/ar-drone/AT/stores/mediamarkt-at Mediamarkt & Saturn] for 300,- EUR
  
 
We plan to make a mesh of flying drones.
 
We plan to make a mesh of flying drones.
Zeile 31: Zeile 31:
 
* Wi-Fi: AR6000
 
* Wi-Fi: AR6000
  
 +
# cat /proc/cpuinfo
 +
Processor      : ARM926EJ-S rev 5 (v5l)
 +
BogoMIPS        : 233.47
 +
Features        : swp half thumb fastmult edsp java
 +
CPU implementer : 0x41
 +
CPU architecture: 5TEJ
 +
CPU variant    : 0x0
 +
CPU part        : 0x926
 +
CPU revision    : 5
 +
Cache type      : write-back
 +
Cache clean    : cp15 c7 ops
 +
Cache lockdown  : format C
 +
Cache format    : Harvard
 +
I size          : 32768
 +
I assoc        : 4
 +
I line length  : 32
 +
I sets          : 256
 +
D size          : 16384
 +
D assoc        : 4
 +
D line length  : 32
 +
D sets          : 128
 +
# free
 +
              total        used        free      shared      buffers
 +
  Mem:      126072        12480      113592            0            0
 +
  Swap:            0            0            0
 +
Total:      126072        12480      113592
  
 +
Hardware        : Mykonos Parrot platform
 +
Revision        : 0904
 +
Serial          : 0000000000000000
  
 +
The Wi-Fi chip seems to have it's own SDIO interface driver. Anyway, the good news for us is, that ad-hoc mode works very well.
  
 +
o  o  o      (Not in USE / think its serial console??)
 +
o  o  o  o    USB (flashing/parrots own flash software)
 +
5V -D +D GND
 +
 +
 +
'''USB-Flashmode (Pinlayout):'''
 +
 +
[[Datei:ARDrone-USB-Cable.png]]
 +
 +
=== OLSRD - HowTo / Build @ Debian 5.0  ===
 +
 +
'''Add new Source to /etc/apt/sources.list:'''
 +
deb http://www.emdebian.org/debian/ lenny main
 +
 +
'''Get new Update´s!'''
 +
sudo apt-get update
 +
 +
'''Copy & Paste into Shell:'''
 +
sudo apt-get install emdebian-archive-keyring libc6-armel-cross libc6-dev-armel-cross binutils-arm-linux-gnueabi gcc-4.3-arm-linux-gnueabi g++-4.3-arm-linux-gnueabi apt-cross dpkg-cross libncurses5-dev
 +
sudo apt-get update
 +
 +
'''Download/Extract Latest STABLE OLSRD Release: (Example)'''
 +
wget http://www.olsr.org/releases/[VERSION]/olsrd-[VERSION].tar.gz
 +
tar xfv olsrd-[VERSION].tar.gz
 +
cd olsrd-[VERSION]
 +
 +
'''Edit Makefile.inc:'''
 +
vi Makefile.inc
 +
Press [ i ]
 +
CC=arm-linux-gnueabi-gcc-4.3
 +
Press [ ESC ] & type [ :wq ] & PRESS ENTER
 +
 +
'''Compile OLSRD:'''
 +
make
 +
make libs
 +
 +
Now olsrd is Compiled and ready for AR.Drone!
 +
 +
=== Copy Compiled OLSRD to AR.Drone ===
 +
'''You need:'''
 +
#Laptop with Wireless LAN
 +
#Local Webserver (MacOS X has one ;)
 +
#Compiled OLSR Binary´s (Plugin´s, OLSRD)
 +
 +
* Connect your Laptop with AR.Drone
 +
* Wait few seconds for IP (192.168.1.2)
 +
* Open a shell window and telnet into AR.Drone
 +
telnet 192.168.1.1
 +
* Lets create some Folder´s on AR.Drone
 +
mkdir /data/apps
 +
mkdir /data/apps/etc
 +
mkdir /data/apps/lib
 +
mkdir /data/apps/init.d
 +
mkdir /var/run
 +
* Copy OLSRD Binary
 +
cd /data/apps
 +
wget http://192.168.1.2/~[USERNAME]/olsrd
 +
ln -s /data/apps/olsrd /bin/olsrd
 +
chmod 777 /bin/olsrd
 +
* Copy OLSRD_LIB´s
 +
cd /data/apps/lib
 +
wget http://192.168.1.2/~[USERNAME]/olsrd_txtinfo.so.0.1
 +
wget http://192.168.1.2/~[USERNAME]/olsrd_httpinfo.so.0.1
 +
wget http://192.168.1.2/~[USERNAME]/olsrd_watchdog.so.0.1
 +
ln -s /data/apps/lib/olsrd_txtinfo.so.0.1 /lib/olsrd_txtinfo.so.0.1
 +
ln -s /data/apps/lib/olsrd_httpinfo.so.0.1 /lib/olsrd_httpinfo.so.0.1
 +
ln -s /data/apps/lib/olsrd_watchdog.so.0.1 /lib/olsrd_watchdog.so.0.1
 +
 +
=== OLSRD Configuration and FunkFeuer Setup ===
 +
 +
(!) DO IT AT YOUR OWN RISK / BE CAREFUL (!)
 +
 +
* Create olsrd.conf in Datadir
 +
vi /data/apps/etc/olsrd.conf
 +
Press [ i ] / Copy & Paste
 +
DebugLevel              0
 +
IpVersion              4
 +
AllowNoInt              yes
 +
FIBMetric              "flat"
 +
Pollrate                0.025
 +
RtProto                111
 +
TcRedundancy            2
 +
Willingness            7
 +
MprCoverage            7
 +
LinkQualityFishEye      0
 +
LinkQualityAlgorithm    "etx_ff"
 +
LinkQualityLevel 2
 +
UseHysteresis no
 +
LoadPlugin "olsrd_txtinfo.so.0.1" {
 +
    PlParam "Port"      "2006"
 +
    PlParam "Accept"    "127.0.0.1"
 +
}
 +
LoadPlugin "olsrd_httpinfo.so.0.1" {
 +
    PlParam "Net"      "0.0.0.0 0.0.0.0"
 +
    PlParam "port"      "8000"
 +
}
 +
LoadPlugin "olsrd_watchdog.so.0.1"
 +
{
 +
        PlParam "file" "/tmp/0xffolsr_watchdog"
 +
        PlParam "interval" "50"
 +
}
 +
Interface "ath0"
 +
{
 +
        Mode            "mesh"
 +
}
 +
InterfaceDefaults
 +
{
 +
        HelloInterval          5.0
 +
        HelloValidityTime      100.0
 +
        TcInterval              3.0
 +
        TcValidityTime          500.0
 +
        MidInterval            30.0
 +
        MidValidityTime        500.0
 +
        HnaInterval            30.0
 +
        HnaValidityTime        500.0
 +
        Ip4Broadcast 255.255.255.255
 +
}
 +
Press [ ESC ] andy type [ :wq ].
 +
* Create startupfile with IP/BSSID/ESSID... Setting´s
 +
vi /data/apps/init.d/olsr.sh
 +
Press [ i ] / Copy & Paste
 +
#!/bin/sh
 +
# kill all olsrd/httpd sessions and delete lock file...
 +
# we can use this script to do restart´s
 +
killall olsrd
 +
rm /var/run/olsrd-ipv4.lock
 +
# ready to setup wireless interface switch to adhoc, bssid, essid
 +
ifconfig ath0 down
 +
iwconfig ath0 mode ad-hoc
 +
iwconfig ath0 channel [CHAN.NR.]
 +
iwconfig ath0 ap [BSSID]
 +
iwconfig ath0 essid [ESSID] #ardrone.freiesnetz.funkfeuer.at looks nice
 +
ifconfig ath0 [IP] netmask [NETMASK] up
 +
ifconfig ath0:1 192.168.1.1 netmask 255.255.255.0 up # be Save ;-)
 +
olsrd
 +
Press [ ESC ] andy type [ :wq ].
 +
ln -s /data/apps/init.d/olsr.sh /etc/init.d/olsr.sh
 +
chmod 777 /etc/init.d/olsr.sh
 +
* Now you can test your OLSRD AR.Drone with
 +
/etc/init.d/olsr.sh
 +
it look´s like
 +
# /etc/init.d/olsr.sh
 +
  *** olsr.org - 0.6.0 ***
 +
  Build date: 2010-11-11 21:14:10 on server1.paua.at
 +
  http://www.olsr.org
 +
Parsing file: "/etc/olsrd.conf"
 +
Debug level: 0
 +
IpVersion: 4
 +
Noint set to 1
 +
FIBMetric: flat
 +
Pollrate 0.03
 +
RtProto: 111
 +
TC redundancy 2
 +
Willingness: 7
 +
MPR coverage 7
 +
Link quality fish eye 0
 +
LQ Algorithm: etx_ff
 +
Link quality level 2
 +
Hysteresis disabled
 +
Plugin: olsrd_txtinfo.so.0.1
 +
Plugin param key:"Port" val: "2006"
 +
Plugin param key:"Accept" val: "127.0.0.1"
 +
Plugin: olsrd_httpinfo.so.0.1
 +
Plugin param key:"Net" val: "0.0.0.0 0.0.0.0"
 +
Plugin param key:"port" val: "8000"
 +
Plugin: olsrd_watchdog.so.0.1
 +
Plugin param key:"file" val: "/tmp/0xffolsr_watchdog"
 +
Plugin param key:"interval" val: "50"
 +
setting ifs_in_curr_cfg = 0
 +
        Mode: mesh
 +
        HELLO interval: 5.00
 +
        HELLO validity: 100.00
 +
        TC interval: 3.00
 +
        TC validity: 500.00
 +
        MID interval: 30.00
 +
        MID validity: 500.00
 +
        HNA interval: 30.00
 +
        HNA validity: 500.00
 +
        IPv4 broadcast: 255.255.255.255
 +
Interface Defaults      IPv4 broadcast/multicast : 255.255.255.255
 +
        Mode          : mesh (d)
 +
        IPv6 multicast          : ff02::6d
 +
        HELLO emission/validity  : 5.00 (d)/100.00 (d)
 +
        TC emission/validity    : 3.00 (d)/500.00 (d)
 +
        MID emission/validity    : 30.00 (d)/500.00 (d)
 +
        HNA emission/validity    : 30.00 (d)/500.00 (d)
 +
        Autodetect changes      : yes
 +
        IPv4 broadcast/multicast : AUTO
 +
        Mode          : mesh (d)
 +
        IPv6 multicast          : ::
 +
        HELLO emission/validity  : 0.00/0.00
 +
        TC emission/validity    : 0.00/0.00
 +
        MID emission/validity    : 0.00/0.00
 +
        HNA emission/validity    : 0.00/0.00
 +
        Autodetect changes      : no
 +
olsr.org - 0.6.0 detaching from the current process...
 +
#
 +
* if that work´s you can go to the next Step´s...
 +
* Modify /etc/init.d/rcS (be careful)
 +
vi /etc/init.d/rcS
 +
goto line 48/49 it looks like
 +
...
 +
..
 +
.
 +
modprobe p6_sdhci
 +
/bin/wifi_setup.sh
 +
Press [ i ], make a new line after /bin/wifi_setup.sh and Paste
 +
/etc/init.d/olsr.sh
 +
iptables -A INPUT -p tcp --dport 23 -s 193.238.156.0/22 -j ACCEPT #Funkfeuer
 +
iptables -A INPUT -p tcp --dport 23 -s 78.41.112.0/21 -j ACCEPT  #Funkfeuer
 +
iptables -A INPUT -p tcp --dport 23 -j DROP
 +
goto the end of the file and Paste one more                                       
 +
/etc/init.d/olsr.sh
 +
Press [ ESC ] andy type [ :wq ].
 +
* Now you are finished and reboot your device for the first run with olsr, open your Browser http://[IP]:8000 and you can see the OLSR Status Page
 +
 +
=== FILESYSTEM ===
 +
 +
-> /
 +
bin      dev      factory  home      mnt      root      sys      update    var
 +
data      etc      firmware  lib      proc      sbin      tmp      usr      www
 +
 +
-> /bin
 +
ash              cp                false            ip                mv                pwd              stat              vi
 +
busybox          cttyhack          fgrep            ipcalc            netstat          random_ip        stty              watch
 +
cat              date              gdbserver        kill              olsr.sh          random_mac        sync            wifi_setup.sh
 +
channelselector  dd                getopt            ln                olsrd            reset_dhcp.sh    tar              zcat
 +
check_update.sh  df                grep              ls                pairing_setup.sh  rm                touch
 +
checkplf          dmesg            gunzip            mkdir            pidof            rmdir            true
 +
chgrp            echo              gzip              mknod            ping              sed              umount
 +
chmod            egrep            hostname          mktemp            program.elf      sh                uname
 +
chown            factory_reset_cb  httpd            mount            ps                sleep            usleep
 +
 +
-> /etc
 +
fstab          hostname      httpd.conf    init.d        ld.so.cache    olsrd.conf    profile        udhcpd.conf
 +
group          hosts          inetd.conf    inittab        nsswitch.conf  passwd        protocols
 +
 +
-> /etc/init.d
 +
rcS
 +
 +
-> /sbin
 +
arp          fdisk        ifconfig    insmod      iwgetid      iwspy        mdev        modprobe    rmmod        switch_root  udhcpc
 +
blkid        halt        ifrename    iwconfig    iwlist      klogd        mkdosfs      poweroff    route        sysctl      zcip
 +
fbsplash    hwclock      init        iwevent      iwpriv      lsmod        mkfs.vfat    reboot      setconsole  syslogd
 +
 +
-> /data
 +
accs_infos.bin        emergency.bin        log_bin              syslog.bin            video
 +
apps                  fact_accs_infos.bin  navdata_blackbox.bin  sys?og.bin            www
 +
config.ini            fact_trims.bin        random_mac.txt        trims.bin
 +
 +
=== AR.Drone Configuration File (/data/config.ini) ===
 +
# cat config.ini
 +
[general]
 +
num_version_config            = 1
 +
num_version_mb                = 17
 +
num_version_soft              = 1.3.3
 +
soft_build_date                = 2010-09-22 15:30
 +
motor1_soft                    = 0.0
 +
motor1_hard                    = 0.0
 +
motor1_supplier                = 0.0
 +
motor2_soft                    = 0.0
 +
motor2_hard                    = 0.0
 +
motor2_supplier                = 0.0
 +
motor3_soft                    = 0.0
 +
motor3_hard                    = 0.0
 +
motor3_supplier                = 0.0
 +
motor4_soft                    = 0.0
 +
motor4_hard                    = 0.0
 +
motor4_supplier                = 0.0
 +
ardrone_name                  = My ARDrone
 +
flying_time                    = 630
 +
navdata_demo                  = TRUE
 +
com_watchdog                  = 2
 +
video_enable                  = TRUE
 +
vision_enable                  = TRUE
 +
vbat_min                      = 9000
 +
[control]
 +
accs_offset                    = { -2.1041426e+03 1.9623026e+03 2.0612791e+03 }
 +
accs_gains                    = {  9.8346788e-01 2.0515487e-02 1.5799545e-02  -1.3670200e-02 -9.8090577e-01 1.9539831e-02  5.9470539e-03 -3.6688969e-02 -9.7911078e-01  }
 +
gyros_offset                  = { 1.6544460e+03 1.6738420e+03 1.6580200e+03 }
 +
gyros_gains                    = { 6.9924705e-03 -7.0605604e-03 -3.7827170e-03 }
 +
gyros110_offset                = { 1.5891379e+03 1.6813199e+03 }
 +
gyros110_gains                = { 1.5292658e-03 -1.5492389e-03 }
 +
gyro_offset_thr_x              = 4.0000000e+00
 +
gyro_offset_thr_y              = 4.0000000e+00
 +
gyro_offset_thr_z              = 5.0000000e-01
 +
pwm_ref_gyros                  = 470
 +
control_level                  = 0
 +
shield_enable                  = 1
 +
euler_angle_max                = 3.4906584e-01
 +
altitude_max                  = 10000
 +
altitude_min                  = 50
 +
control_trim_z                = 0.0000000e+00
 +
control_iphone_tilt            = 5.8549303e-01
 +
control_vz_max                = 1.0000000e+03
 +
control_yaw                    = 3.4906585e+00
 +
outdoor                        = TRUE
 +
flight_without_shell          = TRUE
 +
brushless                      = TRUE
 +
autonomous_flight              = FALSE
 +
manual_trim                    = FALSE
 +
indoor_euler_angle_max        = 2.0943952e-01
 +
indoor_control_vz_max          = 7.0000000e+02
 +
indoor_control_yaw            = 1.7453293e+00
 +
outdoor_euler_angle_max        = 4.6401200e-01
 +
outdoor_control_vz_max        = 1.3894274e+03
 +
outdoor_control_yaw            = 5.1314220e+00
 +
[network]
 +
ssid_single_player            = ardrone_v1.3.3
 +
ssid_multi_player              = ardrone_v1.3.3
 +
infrastructure                = TRUE
 +
secure                        = FALSE
 +
passkey                        =
 +
navdata_port                  = 5554
 +
video_port                    = 5555
 +
at_port                        = 5556
 +
cmd_port                      = 0
 +
owner_mac                      = 00:00:00:00:00:00
 +
owner_ip_address              = 0
 +
local_ip_address              = 0
 +
broadcast_address              = 0
 +
[pic]
 +
ultrasound_freq                = 8
 +
ultrasound_watchdog            = 3
 +
pic_version                    = 262192
 +
[video]
 +
camif_fps                      = 15
 +
camif_buffers                  = 2
 +
num_trackers                  = 12
 +
[detect]
 +
enemy_colors                  = 1
 +
enemy_without_shell            = 0
 +
detect_type                    = 3
 +
[syslog]
 +
output                        = 7
 +
max_size                      = 102400
 +
nb_files                      = 5
 +
 +
=== Hacking ;-) ===
 +
 +
gpio 63 -d ho 1 # RED/ORANGE?? i think GREEN AND RED ;-), SYSTEM_LED _ Bottomside of AR.Drone
 +
gpio 63 -d ho 0 # GREEN SYSTEM_LED _ Bottomside of AR.Drone
  
−
The Wi-Fi chip seems to have it's own SDIO interface driver. Anyway, the good news for us is, that ad-hoc mode works very well.
 
  
 
=== API ===
 
=== API ===
  
 
* https://projects.ardrone.org/
 
* https://projects.ardrone.org/
−
 
  
 
=== Links / external documentation ===
 
=== Links / external documentation ===
 
* http://www.kapejod.org/2010/08/parrot-ar-drone-linux-internals/
 
* http://www.kapejod.org/2010/08/parrot-ar-drone-linux-internals/
−
*
+
* https://projects.ardrone.org/projects/ardrone-api/documents
 +
* http://www.air-drone.de (forum)
 +
* http://kapejod.org/download/ardrone_install.txt (Output/Firmwareflashing)
 +
* http://diydrones.com/profiles/blogs/turning-the-parrot-ardrone (Turning the Parrot AR.Drone into an autonomous UAV)
 +
* http://www.ardrone-flyers.com/forum/viewtopic.php?f=8&t=23 (already port GPS to AR.Drone)
  
 
== Pics ==
 
== Pics ==
 
<gallery>
 
<gallery>
 +
Datei:AR.Drone.Back.jpg
 
Datei:AR.Drone.Bottom.jpg
 
Datei:AR.Drone.Bottom.jpg
 
Datei:AR.Drone.Cross.Junction.jpg
 
Datei:AR.Drone.Cross.Junction.jpg

Aktuelle Version vom 30. November 2010, 18:38 Uhr

AR.Drone

Parrot produces a very nice quadcopter called "AR.Done"

Homepage: http://ardrone.parrot.com/parrot-ar-drone/usa/

In Vienna you can get them at Mediamarkt & Saturn for 300,- EUR

We plan to make a mesh of flying drones.


FAQ

  • how long can it fly? 
Approximately 15 minutes
  • how much can it carry?

Approx. 200 grams


Documentation

Hardware

  • Linux myhost 2.6.27.47-parrot-01227-g93dde09 #1 PREEMPT Fri Jul 2 15:23:06 CEST 2010 armv5tejl GNU/Linux
  • Processor : ARM926EJ-S rev 5 (v5l)
  • Mykonos Parrot platform,
  • REv: 0904
  • Memory: 128MB RAM
  • Wi-Fi: AR6000 
# cat /proc/cpuinfo 
Processor       : ARM926EJ-S rev 5 (v5l)
BogoMIPS        : 233.47
Features        : swp half thumb fastmult edsp java 
CPU implementer : 0x41
CPU architecture: 5TEJ
CPU variant     : 0x0
CPU part        : 0x926
CPU revision    : 5
Cache type      : write-back
Cache clean     : cp15 c7 ops
Cache lockdown  : format C
Cache format    : Harvard
I size          : 32768
I assoc         : 4
I line length   : 32
I sets          : 256
D size          : 16384
D assoc         : 4
D line length   : 32
D sets          : 128
# free
              total         used         free       shared      buffers
  Mem:       126072        12480       113592            0            0
 Swap:            0            0            0
Total:       126072        12480       113592

Hardware  : Mykonos Parrot platform Revision  : 0904 Serial  : 0000000000000000

The Wi-Fi chip seems to have it's own SDIO interface driver. Anyway, the good news for us is, that ad-hoc mode works very well. 

o  o  o       (Not in USE / think its serial console??)
o  o  o  o    USB (flashing/parrots own flash software)
5V -D +D GND


USB-Flashmode (Pinlayout):

ARDrone-USB-Cable.png

OLSRD - HowTo / Build @ Debian 5.0

Add new Source to /etc/apt/sources.list: 

deb http://www.emdebian.org/debian/ lenny main

Get new Update´s! 

sudo apt-get update

Copy & Paste into Shell: 

sudo apt-get install emdebian-archive-keyring libc6-armel-cross libc6-dev-armel-cross binutils-arm-linux-gnueabi gcc-4.3-arm-linux-gnueabi g++-4.3-arm-linux-gnueabi apt-cross dpkg-cross libncurses5-dev
sudo apt-get update

Download/Extract Latest STABLE OLSRD Release: (Example) 

wget http://www.olsr.org/releases/[VERSION]/olsrd-[VERSION].tar.gz
tar xfv olsrd-[VERSION].tar.gz
cd olsrd-[VERSION]

Edit Makefile.inc: 

vi Makefile.inc

Press [ i ] 

CC=arm-linux-gnueabi-gcc-4.3

Press [ ESC ] & type [ :wq ] & PRESS ENTER

Compile OLSRD: 

make
make libs

Now olsrd is Compiled and ready for AR.Drone!

Copy Compiled OLSRD to AR.Drone

You need:

  1. Laptop with Wireless LAN
  2. Local Webserver (MacOS X has one ;)
  3. Compiled OLSR Binary´s (Plugin´s, OLSRD)
  • Connect your Laptop with AR.Drone
  • Wait few seconds for IP (192.168.1.2)
  • Open a shell window and telnet into AR.Drone 
telnet 192.168.1.1
  • Lets create some Folder´s on AR.Drone 
mkdir /data/apps
mkdir /data/apps/etc
mkdir /data/apps/lib
mkdir /data/apps/init.d
mkdir /var/run
  • Copy OLSRD Binary 
cd /data/apps
wget http://192.168.1.2/~[USERNAME]/olsrd
ln -s /data/apps/olsrd /bin/olsrd
chmod 777 /bin/olsrd
  • Copy OLSRD_LIB´s 
cd /data/apps/lib
wget http://192.168.1.2/~[USERNAME]/olsrd_txtinfo.so.0.1
wget http://192.168.1.2/~[USERNAME]/olsrd_httpinfo.so.0.1
wget http://192.168.1.2/~[USERNAME]/olsrd_watchdog.so.0.1
ln -s /data/apps/lib/olsrd_txtinfo.so.0.1 /lib/olsrd_txtinfo.so.0.1
ln -s /data/apps/lib/olsrd_httpinfo.so.0.1 /lib/olsrd_httpinfo.so.0.1
ln -s /data/apps/lib/olsrd_watchdog.so.0.1 /lib/olsrd_watchdog.so.0.1

OLSRD Configuration and FunkFeuer Setup

(!) DO IT AT YOUR OWN RISK / BE CAREFUL (!)

  • Create olsrd.conf in Datadir 
vi /data/apps/etc/olsrd.conf

Press [ i ] / Copy & Paste 

DebugLevel              0
IpVersion               4
AllowNoInt              yes
FIBMetric               "flat"
Pollrate                0.025
RtProto                 111
TcRedundancy            2
Willingness             7
MprCoverage             7
LinkQualityFishEye      0
LinkQualityAlgorithm    "etx_ff"
LinkQualityLevel 2
UseHysteresis no
LoadPlugin "olsrd_txtinfo.so.0.1" {
    PlParam "Port"      "2006"
    PlParam "Accept"    "127.0.0.1"
}
LoadPlugin "olsrd_httpinfo.so.0.1" {
    PlParam "Net"       "0.0.0.0 0.0.0.0"
    PlParam "port"      "8000"
}
LoadPlugin "olsrd_watchdog.so.0.1"
{
       PlParam "file" "/tmp/0xffolsr_watchdog"
        PlParam "interval" "50"
}
Interface "ath0" 
{
        Mode            "mesh"
}
InterfaceDefaults
{
        HelloInterval           5.0
        HelloValidityTime       100.0
        TcInterval              3.0
        TcValidityTime          500.0
        MidInterval             30.0
        MidValidityTime         500.0
        HnaInterval             30.0
        HnaValidityTime         500.0
        Ip4Broadcast 255.255.255.255
}

Press [ ESC ] andy type [ :wq ].

  • Create startupfile with IP/BSSID/ESSID... Setting´s 
vi /data/apps/init.d/olsr.sh

Press [ i ] / Copy & Paste 

#!/bin/sh 
# kill all olsrd/httpd sessions and delete lock file...
# we can use this script to do restart´s
killall olsrd
rm /var/run/olsrd-ipv4.lock
# ready to setup wireless interface switch to adhoc, bssid, essid
ifconfig ath0 down
iwconfig ath0 mode ad-hoc
iwconfig ath0 channel [CHAN.NR.]
iwconfig ath0 ap [BSSID]
iwconfig ath0 essid [ESSID] #ardrone.freiesnetz.funkfeuer.at looks nice
ifconfig ath0 [IP] netmask [NETMASK] up
ifconfig ath0:1 192.168.1.1 netmask 255.255.255.0 up # be Save ;-)
olsrd

Press [ ESC ] andy type [ :wq ]. 

ln -s /data/apps/init.d/olsr.sh /etc/init.d/olsr.sh
chmod 777 /etc/init.d/olsr.sh
  • Now you can test your OLSRD AR.Drone with 
/etc/init.d/olsr.sh

it look´s like 

# /etc/init.d/olsr.sh 
 *** olsr.org - 0.6.0 ***
 Build date: 2010-11-11 21:14:10 on server1.paua.at
 http://www.olsr.org
Parsing file: "/etc/olsrd.conf"
Debug level: 0
IpVersion: 4
Noint set to 1
FIBMetric: flat
Pollrate 0.03
RtProto: 111
TC redundancy 2
Willingness: 7
MPR coverage 7
Link quality fish eye 0
LQ Algorithm: etx_ff
Link quality level 2
Hysteresis disabled
Plugin: olsrd_txtinfo.so.0.1
Plugin param key:"Port" val: "2006"
Plugin param key:"Accept" val: "127.0.0.1"
Plugin: olsrd_httpinfo.so.0.1
Plugin param key:"Net" val: "0.0.0.0 0.0.0.0"
Plugin param key:"port" val: "8000"
Plugin: olsrd_watchdog.so.0.1
Plugin param key:"file" val: "/tmp/0xffolsr_watchdog"
Plugin param key:"interval" val: "50"
setting ifs_in_curr_cfg = 0
        Mode: mesh
        HELLO interval: 5.00
        HELLO validity: 100.00
        TC interval: 3.00
        TC validity: 500.00
        MID interval: 30.00
        MID validity: 500.00
        HNA interval: 30.00
        HNA validity: 500.00
        IPv4 broadcast: 255.255.255.255 
Interface Defaults      IPv4 broadcast/multicast : 255.255.255.255
        Mode           : mesh (d)
        IPv6 multicast           : ff02::6d
        HELLO emission/validity  : 5.00 (d)/100.00 (d)
        TC emission/validity     : 3.00 (d)/500.00 (d)
        MID emission/validity    : 30.00 (d)/500.00 (d)
        HNA emission/validity    : 30.00 (d)/500.00 (d)
        Autodetect changes       : yes
        IPv4 broadcast/multicast : AUTO
        Mode           : mesh (d)
        IPv6 multicast           : ::
        HELLO emission/validity  : 0.00/0.00
        TC emission/validity     : 0.00/0.00
        MID emission/validity    : 0.00/0.00
        HNA emission/validity    : 0.00/0.00
        Autodetect changes       : no
olsr.org - 0.6.0 detaching from the current process...
#
  • if that work´s you can go to the next Step´s...
  • Modify /etc/init.d/rcS (be careful) 
vi /etc/init.d/rcS

goto line 48/49 it looks like 

...
..
.
modprobe p6_sdhci
/bin/wifi_setup.sh

Press [ i ], make a new line after /bin/wifi_setup.sh and Paste 

/etc/init.d/olsr.sh
iptables -A INPUT -p tcp --dport 23 -s 193.238.156.0/22 -j ACCEPT #Funkfeuer
iptables -A INPUT -p tcp --dport 23 -s 78.41.112.0/21 -j ACCEPT   #Funkfeuer
iptables -A INPUT -p tcp --dport 23 -j DROP

goto the end of the file and Paste one more 

/etc/init.d/olsr.sh

Press [ ESC ] andy type [ :wq ].

  • Now you are finished and reboot your device for the first run with olsr, open your Browser http://[IP]:8000 and you can see the OLSR Status Page

FILESYSTEM

-> /
bin       dev       factory   home      mnt       root      sys       update    var
data      etc       firmware  lib       proc      sbin      tmp       usr       www

-> /bin
ash               cp                false             ip                mv                pwd               stat              vi
busybox           cttyhack          fgrep             ipcalc            netstat           random_ip         stty              watch
cat               date              gdbserver         kill              olsr.sh           random_mac        sync             wifi_setup.sh
channelselector   dd                getopt            ln                olsrd             reset_dhcp.sh     tar               zcat
check_update.sh   df                grep              ls                pairing_setup.sh  rm                touch
checkplf          dmesg             gunzip            mkdir             pidof             rmdir             true
chgrp             echo              gzip              mknod             ping              sed               umount
chmod             egrep             hostname          mktemp            program.elf       sh                uname
chown             factory_reset_cb  httpd             mount             ps                sleep             usleep

-> /etc
fstab          hostname       httpd.conf     init.d         ld.so.cache    olsrd.conf     profile        udhcpd.conf
group          hosts          inetd.conf     inittab        nsswitch.conf  passwd         protocols

-> /etc/init.d
rcS

-> /sbin
arp          fdisk        ifconfig     insmod       iwgetid      iwspy        mdev         modprobe     rmmod        switch_root  udhcpc
blkid        halt         ifrename     iwconfig     iwlist       klogd        mkdosfs      poweroff     route        sysctl       zcip
fbsplash     hwclock      init         iwevent      iwpriv       lsmod        mkfs.vfat    reboot       setconsole   syslogd

-> /data
accs_infos.bin        emergency.bin         log_bin               syslog.bin            video
apps                  fact_accs_infos.bin   navdata_blackbox.bin  sys?og.bin            www
config.ini            fact_trims.bin        random_mac.txt        trims.bin

AR.Drone Configuration File (/data/config.ini)

# cat config.ini 
[general]
num_version_config             = 1
num_version_mb                 = 17
num_version_soft               = 1.3.3
soft_build_date                = 2010-09-22 15:30
motor1_soft                    = 0.0
motor1_hard                    = 0.0
motor1_supplier                = 0.0
motor2_soft                    = 0.0
motor2_hard                    = 0.0
motor2_supplier                = 0.0
motor3_soft                    = 0.0
motor3_hard                    = 0.0
motor3_supplier                = 0.0
motor4_soft                    = 0.0
motor4_hard                    = 0.0
motor4_supplier                = 0.0
ardrone_name                   = My ARDrone
flying_time                    = 630
navdata_demo                   = TRUE
com_watchdog                   = 2
video_enable                   = TRUE
vision_enable                  = TRUE
vbat_min                       = 9000 
[control]
accs_offset                    = { -2.1041426e+03 1.9623026e+03 2.0612791e+03 }
accs_gains                     = {  9.8346788e-01 2.0515487e-02 1.5799545e-02  -1.3670200e-02 -9.8090577e-01 1.9539831e-02   5.9470539e-03 -3.6688969e-02 -9.7911078e-01  }
gyros_offset                   = { 1.6544460e+03 1.6738420e+03 1.6580200e+03 }
gyros_gains                    = { 6.9924705e-03 -7.0605604e-03 -3.7827170e-03 }
gyros110_offset                = { 1.5891379e+03 1.6813199e+03 }
gyros110_gains                 = { 1.5292658e-03 -1.5492389e-03 }
gyro_offset_thr_x              = 4.0000000e+00
gyro_offset_thr_y              = 4.0000000e+00
gyro_offset_thr_z              = 5.0000000e-01
pwm_ref_gyros                  = 470
control_level                  = 0
shield_enable                  = 1
euler_angle_max                = 3.4906584e-01
altitude_max                   = 10000
altitude_min                   = 50
control_trim_z                 = 0.0000000e+00
control_iphone_tilt            = 5.8549303e-01
control_vz_max                 = 1.0000000e+03
control_yaw                    = 3.4906585e+00
outdoor                        = TRUE
flight_without_shell           = TRUE
brushless                      = TRUE
autonomous_flight              = FALSE
manual_trim                    = FALSE
indoor_euler_angle_max         = 2.0943952e-01
indoor_control_vz_max          = 7.0000000e+02
indoor_control_yaw             = 1.7453293e+00
outdoor_euler_angle_max        = 4.6401200e-01
outdoor_control_vz_max         = 1.3894274e+03
outdoor_control_yaw            = 5.1314220e+00
[network]
ssid_single_player             = ardrone_v1.3.3
ssid_multi_player              = ardrone_v1.3.3
infrastructure                 = TRUE
secure                         = FALSE
passkey                        = 
navdata_port                   = 5554
video_port                     = 5555
at_port                        = 5556
cmd_port                       = 0
owner_mac                      = 00:00:00:00:00:00
owner_ip_address               = 0
local_ip_address               = 0
broadcast_address              = 0
[pic]
ultrasound_freq                = 8
ultrasound_watchdog            = 3
pic_version                    = 262192
[video]
camif_fps                      = 15
camif_buffers                  = 2
num_trackers                   = 12
[detect]
enemy_colors                   = 1
enemy_without_shell            = 0
detect_type                    = 3
[syslog]
output                         = 7
max_size                       = 102400
nb_files                       = 5

Hacking ;-)

gpio 63 -d ho 1 # RED/ORANGE?? i think GREEN AND RED ;-), SYSTEM_LED _ Bottomside of AR.Drone
gpio 63 -d ho 0 # GREEN SYSTEM_LED _ Bottomside of AR.Drone


API

Links / external documentation

Pics

  • AR.Drone.Back.jpg
  • AR.Drone.Bottom.jpg
  • AR.Drone.Cross.Junction.jpg
  • AR.Drone.Accu.jpg
  • AR.Drone.Main.PCB.Front.jpg
  • AR.Drone.Main.PCB.Back.jpg
  • AR.Drone.US.PCB.Sensors.jpg
  • AR.Drone.US.PCB.Front.jpg
Von „https://oldwiki.funkfeuer.at/index.php?title=ARDrone&oldid=11076“