Getting Connected
1) Connect both USB mini-B type cables to the gumstix board (OTG and console ports)
2) Open a serial console, 115200 baud
host:~$ dmesg | grep tty # should see the name serial port at the end host:~$ screen /dev/ttyUSB0 115200
3) Ensure both antennas are connected. Long antenna is for the 868MHz XBee, short antenna for the 5.8GHz video transmitter. Connect battery to quadrotor and power plug to gumstix. Turn on the flight computer to enable the low battery alarm.
A number of messages should appear in the serial console as the gumstix boots up before the login page eventually appears. Login information is josh/hovergroup.
4) Enable the usb-networking interface over the OTG port
gumstix:~$ sudo modprobe g_ether
At this point a new network interface should appear on your computer. Share your internet connection with this new interface, then on the vehicle:
gumstix:~$ dhclient usb0 gumstix:~$ ifconfig usb0
If the gumstix successfully acquired an IP address then you should be able to ssh in from the host computer.
host:~$ ssh josh@10.42.0.83
You can also check that the vehicle has internet access by pinging some public IP. Alternatively if internet is not required, the interfaces can both be configured to static addresses on the same subnet.
5) Starting a mission
From the home folder you should see folders for leighton-extend and moos-ivp. Navigate to ~/leighton-extend/trunk/missions to find the default mission for the vehicle, vehicle.moos. If you start this mission and run uXMS you should see data being reported by the flight computer. Similarly host.moos is the default file you'll need to run on the host computer with the host-side XBee.
Software Sources
The two main software sources required are MOOS-IvP and the leighton-code svn, which can be found at https://code.google.com/p/leighton-code/. The leighton-code applications are currently only compatible with old-moos, and version 12.2 of MOOS-IvP is installed on the vehicle.