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Re: [Paparazzi-devel] IVY BUS communication with motion capture data sim

From: Jay Dee
Subject: Re: [Paparazzi-devel] IVY BUS communication with motion capture data similar to TUDELFT
Date: Tue, 22 Aug 2017 08:51:34 +0000

Hi Felix and Gautier,

Thanks for the advice, I appreciate it - the ivy bus thing isn't working out at the moment, the tool I created to operate the ivy bus like natnet doesn't function, the paparazzi centre freezes when I attempt to implement.

I have a question, I have written my own files for a UDP connection with the Vicon motion capture system, how do I ensure that Paparazzi uses them? I can't seem to get them to build - do I have to create a new module? or link it someway with an existing module? 

Also, I inserted the gps_datalink module into the airframe file, where is it getting the udp connection information? I've looked in the PPRZ wiki and  PPRZ UAS site and it doesn't seem clear?

thanks for taking the time,


Sent from Outlook

From: Paparazzi-devel <paparazzi-devel-bounces+address@hidden> on behalf of Felix Ruess <address@hidden>
Sent: Saturday, 19 August 2017 11:06:07 PM
To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] IVY BUS communication with motion capture data similar to TUDELFT
Hi John,

in the end you just need to send the REMOTE_GPS_SMALL or REMOTE_GPS message and use the gps_datalink module in your airframe file.

Cheers, Felix

On Thu, Aug 10, 2017 at 2:26 PM, JD123UAV <address@hidden> wrote:

Currently I am developing code that will capture drone position data in a
vicon motion capture system similar to the work bu TUDELFT in the Optitrack
sytem with NatNet.

The story so far, I can capture the drone position data with a udp, have
developed a paparazzi center tool selection from the tools menu.

Now, I want to send the data to the Drone and GCS via the Ivy bus, after
looking at NatNet is it a case of using the ivy bus multicast addresses in a
similar fashion as a UDP socket?

And do I have to change the IP address of the drone so that the is not
providing the Wi-Fi network but now joining the Vicon network?

Or is this all unnecessary and there is a much simpler way to pass position
data once captured via udp to the drone as GPS ?

I am currently using a udp socket in this path

paparazzi/sw/ground_segment/misc/vicon2ivy  note the vicon2ivy is in the
same path as natnet2ivy

kind regards,


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