WiFi Interface with WiFly RN XV
In this section, we learn how to setup a WiFi communication with Pixhawk using the RN-XV Wifly module.
Requirements:
- Pixhawk: calibrated and ready to fly
- WiFi module: RN-XV WiFly Module - Wire Antenna
- XBee explorer USB: to configure WiFi module via PC
- Xbee breakout board: to interface with Pixhawk
In this tutorial, TELEM2 is going to be used to connect the WiFi module at baud rate 921600. TELEM1 can be used too, but will require further configuration steps, but you can stil use it direectly at baud 57600 (which is its default).
Pixhawk TELEM setup
To set the baude rate of TELEM2 to 921600, connect Pixhawk to Qgroundcontrol. Go to the System tab. Change the SYS_COMP parameter to use companion with 921600 baudrate. Restart Pixhawk to take effect.
WiFi module setup
Official Roving Network documentation
Connect the WiFi module to the XBee explorer USB board and connect it to the computer. You will need to use a serial terminal. For Mac, use the Mac terminal. For Windows it is recommended to use TeraTerm.
On a Mac terminal, use the screen command to log into the Wifly
screen /dev/tty.usbserial-FTFABC 9600 8N1
/dev/tty.usbserial-FTFABC is the device port on Mac. You can find yours using
ls /dev/tty*
Aafter you login, type $$$ and hit ENTER
type
scan
to make sure that the device is operational. If there are networks, it should be listed.
Serial setup
You can change the serial baudrate by
set u b 57600
WiFi setup
Set authentification to WPA2-PSK only:
set wlan auth 3
set auto channel scan
set wlan channel 0
Tell the module to auto-join the network when powered on:
set wlan join 1
set wireless name, SSID
set wlan ssid <your wifi ssid>
set WiFi password
set wlan phrase <password>
Enable continous scanning
set wlan linkmon 5
IP setup
This guide assumes UDP communication to a ground control station computer on IP 192.168.1.100, port 14550 (QGroundControl default port).
Set dynamic IP (recommended)
Enable DHCP on each boot (for dynamic IP):
set ip dhcp 1
set IP protocol (UDP & TCP)
set ip protocol 3
Set remote port:
set ip remote 14550
set remote hos IP (IP of your PC):
set ip host 192.168.1.100
Test and save configurations
join the WiFi
join <WiFi ssid>
it it connects, it will show:
Asscoiated!
save and reboot
save
reboot
To check the settings current yon the device, IP settings:
get ip
wifi settings:
get wlan
serial settings:
get u
Static IP
Disable DHCP mode
set ip dhcp 0
set the WiFi module's IP address
set ip address <choose ip>
your IP first 3 numbers (e.g. 192.168.1.*) should bethe same as your router's first three numbers
set IP gateway (usually this is your router's IP). You can firdt set up dynamic IP, and then connect to the WiFi. Then, on the WiFi module command line type get ip to see the gateway and the netmask, and note them down. Set the gateway and netmask as follows,
set ip gateway <router ip address>
set netmask:
set ip netmask <netmask address>
set local port. You can leave the default (2000)
set ip localport 2000
set the remote host IP and remote port as before.
Save and reboot
save
reboot
Make sure that the device can join the WiFi netowrk. Log in to the device using (e.g. screen command), and type $$$. Then join the network by typing join <network ssid>
Once successful, you can now go to next step to set higher baud rates.
Configure higher baud rates
telnet <wifly ip address> <wifly localport>
then type $$$, and hit ENTER
set high baudrate
set u b 921600
save and reboot
save
reboot
Finally, attach the Wifly device to an XBee explorer requlated board, similar to this,and connect it to TELEM2.
Now you are ready to communicate with the Pixhawk via WiFi!