"No, they were actually all broadcasting. Each node broadcasts information about itself to all other nodes. All of the nodes are treated equally and can assume any role, so they are all configured the same. We can assign a node a particular role…"
The vehicles in our network communicate amongst themselves (point to multi-point) and don't require a GCS. Last year we were just using the standard XBee firmware to handle the mesh networking, but this year we've implemented our own…"
"We have not attempted to operate with more vehicles. This year we've been working on porting the mesh communication smarts to software, so that we aren't reliant on any particular radio, like the XBee. We've got the new software running in lab and…"
We have encountered an unexpected (at least to us) disarm behavior several times and would appreciate some help diagnosing the issue. We attempted to send a disarm command from Mission Planner but the command was rejected ("Error: command rejected…
"Very interesting stuff, Randy. When we've done flights with our formation flying system, we've also had issues with radio congestion. We use individual ground radios for each vehicle all hooked up to one PC running some custom GCS software.
What version of the Arducopter code are you using? In 3.2, both serial 4 and 5 have already been assigned other purposes, a 3rd telemetry port and a 2nd gps. You'll have to search through the code and repurpose whichever serial port you were…"
"This is a great resource. As someone who's had to make custom modifications to the ArduPilot code for a few projects, it will be awesome to have some more formal detailed documentation. Look forward to updates. Thanks!"
On the BBB side we're just using the pyserial Python library to send/receive whatever data we need over the UART to the Pixhawk. We added a CRC to ensure data integrity, but that isn't absolutely required of couse. On the Pixhawk, most…"
Sounds like an interesting project. Like you are describing, we also use the BBB for all of our unique logic and leave the flight control to the Ardupilot. Interfacing the BBB to Ardupilot is reasonably simple. One thing I would suggest…"
"Yes, that is correct. We usually run test flights with two laptops, one monitoring the vehicle telemetry from the 3DR radios and the other monitoring the two XBee channels. It's just a lot of data for one person to monitor at the same time, but we…"
Currently we don't plan to have more than 8 nodes, but I don't think that is the absolute peak the system could support. It would be limited by the network congestion on the XBee networks, but I believe it could support many more than 8.…"
The Beaglebone interfaces to the Pixhawk using one of the extra UARTs (Serial 4/5). Currently we just parse the serial data directly in some custom interface code we compiled into ArduCopter. We actually implement the commands in…"