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 debian@192.168.7.2 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.