Now that I've got my attittude EKF running on the Robovero, it's time to get some position estimates as well. To do that I need to have position measurements. While indoors I'll be using our NaturalPoint OptiTrack system as a pseudo GPS measurement. I already had the Simulink block ready to go so adding that in shouldn't have been a problem. However, when I tried to run the code I was never able to receive any information from the OptiTrack system even though my Windows machine could no problem. I came to realize that the multicast data is not enabled by default in the OE kernel (right now using 3.2). I did a "ifconfig" and wlan0 says MULTICAST but that apparently doesn't mean anything. When I ran "netstat -g" I would get only a couple of lines and it saying something about not supporting something. After reading some posts about multicasting on the gumstix I realized I needed to recompile the kernel. Lucky for me I already had my VirtualBox OE (I've since switched to Yocto but the known working kernel 3.2 was built in OE). I followed a few of Scott's suggestions, here and using a very handy post at nabble about why the "bitbake -c menuconfig virtual/kernel" wasn't showing up.  Long story short, got multicasting enabled, re-ran the NatNet streaming block and all is cool.  Now to collect some data, verify attitude EKF data and get position EKF running.

Last modified Sun, 14 Apr, 2013 at 14:52