- Power on the LinkSys router that hosts "cantTouchThis" network. Password: on the router
- Connect "johnpi" Rpi to the router
- Turn on mud + all nodes (aesir, bohr, day, earth..)
Upon starup, johnpi.local starts hosting the MQTT server. Upon startup, mud.local runs a script that ranges to nodes 0-3. To make it range to more nodes, modify in .bashrc - the line that is calling the ranging script with parameter "4" To log into mud.local: pi@mud.local, password: J***z
Upon startup, each beacon listens for ranging packets and respond. Each beacon has been programed with its ID (0, 1, 2..)
To start ranging, send command "mud.local" on topic/uwb_ctrl mosquitto_pub -h johnpi.local -t topic/uwb_ctrl -m 'mud.local' This command makes mud range for about 10 seconds Currently, if you turn on the "Competition App" it publishes the above command every 9 seconds.
To view the ranges, subscribe to channel: topic/uwb_range_mud mosquitto_sub -v -h johnpi.local -t topic/uwb_range_mud
To run the solver, run StreamUwbLoc.m. It requires this MQTT library to be installed: https://in.mathworks.com/matlabcentral/fileexchange/64303-mqtt-in-matlab
The MATLAB code continuously subscribes to "johnpi.local topic/uwb_range_mud" It runs trialteration and publishes the location to "johnpi.local topic/uwb_loc" in this format: topic/uwb_loc {"x":2.10,"y":8.15,"z":1.22}