This is the ground station software for our PX4_stack customised avionics system which can be cloned from git@cvr-eng.cecs.anu.edu.au:juan.adarve/anu-avionics.git or https://github.com/dnovichman/Firmware/tree/moses-dev
It contains the following ros packages control_input lmpc_V1 vicon_bridge mavlink_ros log_data phone
The description of these packages is found in Chapter 3 of the PhD thesis "Aerodynamics and Control of Quadrotors" by Moses Bangura, Australian National University 2016..
Installation of the ground station is described in the wiki.
In gs_source/ground_station.h modify the config_file
To run ground station "sh run_gs.sh"
The configuration file. ground_station.config
It can be modified to suit current parameters but the structure should not be changed.
To change the desired path or trajectory, go to the terminal running control_input
Examples of control_input terminal values are 0 Hover at (0.0 ,0.0, -1.1, 0.0) 1 User specified differential flat output 4 Position (1.0, 0, -1.1, 0) 7 Figure 8 trajectory 17 Phone inputs
To enable wireless accesspoint on your ubuntu computer, android devices cannot detect ad-hoc hotspots created by following the standard hotspot created in Ubuntu. These steps in http://askubuntu.com/questions/323335/how-to-setup-a-wi-fi-hotspot-with-an-ubuntu-laptop-access-point-mode by Kexanie should be followed.
git clone https://github.com/oblique/create_ap cd create_ap make install
Usage No passphrase (open network):
sudo create_ap wlan0 eth0 MyAccessPoint
WPA + WPA2 passphrase:
create_ap wlan0 eth0 MyAccessPoint MyPassPhrase
Change wlan0 and eth0 to the interface on your machine. (ifconfig)