Quick Start

Previous checks

WiFi connection

If WiFi is going to be used, each host computer has to be connected to the chosen router. The names of the WiFi networks are shown in WiFi Networks for each of the available routers.

Internet connection is NOT required

The router doesn't need to be connected to the internet, since it will only act as passing the messages between the two nodes. None of the nodes uses the internet for any task.

Make sure that each node is connected to the wifi network of the chosen router.

In Windows when the connection is established, the status "Connected, No Internet" will appear under the connections menu.

In RaspbianOS when the connection is established, the wireless symbol in the top bar won't be blinking and will be bold.

RFSoC server running

Before using the GUI, the RFSoC server has to be running on each RFSoC. To check if that is the case, follow these steps:

Open a terminal in the Raspberry Pi, or open a Command Prompt in Windows (you will have to do it for both host computers: Windows Manifold and RaspbianOS Raspberry)
Write ssh xilinx@10.1.1.30 (Raspberry) or ssh xilinx@10.1.1.40 (Manifold)
Enter the password: xilinx
Write ps aux | grep mmwsdr
From the appearing results, there has to be 2 files listed: server.py and run.sh. If non of these files appear or there is only one, continue to the next step; otherwise the check is fine (no need to proceed to the next step) and the RFSoC server is running in the host computer that is being checked.
Set the current directory to the mmwsdr folder.
Run the run.sh file by writing sudo ./run.sh. If any password is required, the password is xilinx.

Activate python environment

The python environment having all the required packages to run the software has to be activated.

Activating the python environment in the Raspberry depends on how do you plan to execute the software. There are two ways:

Using the Command Prompt:

Open a new terminal window
Type conda activate groundnode. If typed correctly, the environment will change from (base) to (groundnode) in the terminal window

Using Visual Studio Code (recommended):

Open Visual Studio Code
By default it has been setup to use the correct python environment, but (if needed) to set it up, press the highlighted section of the bottom bar:

Image title — Change python environment in Visual Studio Code

From the options that appear, choose the one that has the string groundnode (or the name of the new/other environment you have created) on it

In the Manifold, follow these steps:

Open a new Anaconda Prompt
Write conda activate uavCom

Run the software

For the Manifold:

In the terminal where you have previously activated the python environment, set the current directory to the a2gMeasurements folder
Write python drone_main.py
When asked GND IP addr is 192.168.0.124? choose with the arrow keys Yes if that is the case or No otherwise, and press ENTER. If you choose No, you will have to enter the ground IP address in the correct format (i.e. [0-255].[0-255].[0-255].[0-255])
When asked GPS at DRONE is going to be used? choose accordingly and press ENTER. If Yes, then enter the heading offset of the baseline between the two antennas in the proper format (i.e. [0-360]). If there is no offset or only one antenna is used, write 0 and press ENTER
When asked Gimbal at DRONE is going to be used? choose accordingly and press ENTER
When asked RFSoC at DRONE is going to be used? choose accordingly but DO NOT press ENTER yet. First you need to run the software on the ground node (Raspberry).

When should I press enter?

Down below in this guide, it will be highlighted when you can press ENTER.

For the Raspberry:

Choose how to execute the software: through the command line or by using a python IDE like Visual Studio Code (recommended as from there you will be able to modify, debug, source control, and run the software).

Ananconda Prompt:

In the terminal where you have previously activated the python environment, set the current directory to the a2gMeasurements folder
Type python GUI_A2G_MEAS.py

Visual Studio Code:

Make sure the working directory on the left panel is A2GMEASUREMENTS or open it by clicking on File > Open Folder and then choose the a2gMeasurements folder from the browser window
Click on Run > Run Without Debugging

Use the GUI: Setup window

After opening the A2GMeasurements GUI, the first window that will appear is shown in the following Figure:

Press the Setup menu:

Then press Setup devices and more:

After that, a Setup window as shown in the following Figure will appear (for more information about the window options, visit Setup window):

Choose the drone gimbal from the available options:

NOTE: the Gremsy H16 gimbal option is available but the behaviour of the gimbal is not optimal.

Choose along which of its own axis, drone's gimbal should follow ground node movement:

Choose along which of its own axis, ground's gimbal should follow drone node movement:

Choose ground node mobility:

If ground node's mobility was Static, the following text boxes will become active. Enter there the coordinates (in decimal degrees) of the ground node and after that press Add coordinate:

Choose drone node mobility:

If drone node's mobility was Static, the following text boxes will become active. Enter there the coordinates (in decimal degrees) of the drone's node and after that press Add coordinate:

If there is mismatch between the front of the ground gimbal and the GPS attitude baseline (see section Components), enter in the following text box the offset (in degrees). The offset angle is measured as described in the API html in GpsSignaling() and GpsSignaling.setHeadingOffset():

Finally, press OK:

After pressing OK, the main window of the A2GMeasurements app will appear.

Setup window

The parameters configured in the Setup window (see Setup Window) are not modifiable until the user presses Disconnect drone. After that, the menu Setup devices and more will be available again.

Use the GUI: Main window

Once the main window has appeared, press Check:

You will have to wait until the software check if the devices shown in the panel are connected.

Check

If the ping and SSH requests to the drone are answered, the Connect drone button will become available.

Press Connect drone and after doing that:

NOW IS THE TIME WHEN YOU CAN PRESS ENTER IN THE COMMAND PROMPT OF THE MANIFOLD (Last step)