...
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
| Code Block |
|---|
} host:~$ dmesg | grep tty # should see the name serial port at the end host:~$ screen /dev/ttyUSB0 115200 {code} |
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
| Code Block |
|---|
} gumstix:~$ sudo modprobe g_ether {code} |
At
...
this
...
point
...
a
...
new
...
network
...
interface
...
should
...
appear
...
on
...
your
...
computer.
...
Share
...
your
...
internet
...
connection
...
with
...
this
...
new
...
interface,
...
then
...
on
...
the
...
vehicle:
| Code Block |
|---|
} gumstix:~$ dhclient usb0 gumstix:~$ ifconfig usb0 {code} |
If
...
the
...
gumstix
...
successfully
...
acquired
...
an
...
IP
...
address
...
then
...
you
...
should
...
be
...
able
...
to
...
ssh
...
in
...
from
...
the
...
host
...
computer.
| Code Block |
|---|
} host:~$ ssh josh@10.42.0.83 {code} |
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.
...