mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 02:38:07 +08:00
[ardrone2] add support for olsr
This commit is contained in:
Gautier Hattenberger
@@ -122,6 +122,17 @@ def ardrone2_install_network_script():
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print(parrot_utils.execute_command(tn,"mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
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print(parrot_utils.execute_command(tn,"chmod 777 /bin/wifi_setup.sh"))
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# Install olsr deamon
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def ardrone2_install_olsrd():
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print('Uploading olsr deamon')
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parrot_utils.uploadfile(ftp, "olsrd", file("ardrone2/olsrd", "rb"))
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parrot_utils.uploadfile(ftp, "olsrd.conf", file("ardrone2/olsrd.conf", "rb"))
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print(parrot_utils.execute_command(tn,"mv /data/video/olsrd /bin/olsrd"))
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print(parrot_utils.execute_command(tn,"chmod 777 /bin/olsrd"))
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print(parrot_utils.execute_command(tn,"mkdir -p /etc/olsrd"))
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print(parrot_utils.execute_command(tn,"mv /data/video/olsrd.conf /etc/olsrd"))
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print(parrot_utils.execute_command(tn,"rm -f /var/run && ln -s /tmp /var/run")) # olsrd needs /var/run folder, symlinked to /tmp
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# Set network SSID
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def ardrone2_set_ssid(name):
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write_to_config('ssid_single_player', name)
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@@ -136,7 +147,7 @@ def ardrone2_set_ip_address(address):
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# Set wifi mode (0: master, 1: ad-hoc, 2: managed, *: master)
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def ardrone2_set_wifi_mode(mode):
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modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2' }
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modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2', 'ad-hoc-olsr' : '3' }
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try:
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val = modes[mode]
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except:
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@@ -145,6 +156,11 @@ def ardrone2_set_wifi_mode(mode):
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write_to_config('wifi_mode', val)
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print('The Wifi mode of the ARDrone2 is changed to ' + mode + ' (' + val + ')')
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# Set network channel
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def ardrone2_set_wifi_channel(chan):
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write_to_config('wifi_channel', chan)
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print('The network channel of the ARDrone 2 is changed to ' + chan)
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def ardrone2_status():
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config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
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@@ -224,7 +240,8 @@ subparser_wifimode.add_argument('mode', help='the new Wifi mode', choices=['mast
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subparser_configure_network = subparsers.add_parser('configure_network', help='Configure the network on the ARDrone 2')
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subparser_configure_network.add_argument('name', help='the new network ID(SSID)')
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subparser_configure_network.add_argument('address', help='the new IP address')
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subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed'])
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subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed', 'ad-hoc-olsr'])
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subparser_configure_network.add_argument('--channel', help='the wifi channel (auto or 1 to 11)', default='auto')
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subparser_install_autostart = subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the ARDrone 2')
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subparser_install_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
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help='what to start on boot')
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@@ -285,6 +302,7 @@ elif args.command == 'configure_network':
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print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
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read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
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print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
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print('Channel:\t' + read_from_config('wifi_channel', config_ini))
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print('=============================')
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if check_wifi_setup():
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print('Custom Wifi script already installed')
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@@ -293,15 +311,19 @@ elif args.command == 'configure_network':
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else:
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if raw_input("Shall I install custom Wifi script (recommanded) (y/N) ").lower() == 'y':
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ardrone2_install_network_script()
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if raw_input("Shall I install olsrd (ad-hoc wireless mesh routing deamon) (y/N) ").lower() == 'y':
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ardrone2_install_olsrd()
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ardrone2_set_ssid(args.name)
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ardrone2_set_ip_address(args.address)
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ardrone2_set_wifi_mode(args.mode)
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ardrone2_set_wifi_channel(args.channel)
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config_ini = parrot_utils.execute_command(tn,'cat /data/config.ini')
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print('== New network setup after boot ==')
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print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
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print('Host:\t\t' + read_from_config('static_ip_address_base', config_ini) +
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read_from_config('static_ip_address_probe', config_ini))
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print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
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print('Channel:\t' + read_from_config('wifi_channel', config_ini))
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print('==================================')
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if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
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Executable
BIN
Binary file not shown.
@@ -0,0 +1,214 @@
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#
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# OLSR.org routing daemon config file
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# This file contains the necessary config options
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# for an RFC compatible mesh
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# (for other options see olsrd.conf.default.full)
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#
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# Lines starting with a # are discarded
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#
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#### ATTENTION for IPv6 users ####
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# Because of limitations in the parser IPv6 addresses must NOT
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# begin with a ":", so please add a "0" as a prefix.
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###########################
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### Basic configuration ###
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###########################
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# keep this settings at the beginning of your first configuration file
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# Debug level (0-9)
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# If set to 0 the daemon runs in the background, unless "NoFork" is set to true
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# (Default is 1)
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DebugLevel 0
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# IP version to use (4 or 6)
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# (Default is 4)
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# IpVersion 4
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#################################
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### OLSRd agent configuration ###
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#################################
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# this parameters control the settings of the routing agent which are not
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# related to the OLSR protocol and it's extensions
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# FIBMetric controls the metric value of the host-routes OLSRd sets.
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# - "flat" means that the metric value is always 2. This is the preferred value
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# because it helps the linux kernel routing to clean up older routes
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# - "correct" use the hopcount as the metric value.
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# - "approx" use the hopcount as the metric value too, but does only update the
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# hopcount if the nexthop changes too
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# (Default is "flat")
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# FIBMetric "flat"
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#######################################
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### Linux specific OLSRd extensions ###
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#######################################
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# these parameters are only working on linux at the moment, but might become
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# useful on BSD in the future
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# Activates (in IPv6 mode) the automatic use of NIIT
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# (see README-Olsr-Extensions)
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# (default is "yes")
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UseNiit no
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# Activates the smartgateway ipip tunnel feature.
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# See README-Olsr-Extensions for a description of smartgateways.
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# (default is "yes")
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SmartGateway no
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##############################
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### OLSR protocol settings ###
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##############################
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# For testing purposes it may be nice to use another port for olsrd
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# for using another port than the IANA assigned one
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# for a production network, there should be a good reason!!
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# valid values are integers >1, please be careful with using reserved
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# port numbers
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# (default is 698, the IANA assigned olsr-port)
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# OlsrPort 698
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# The fixed willingness to use (0-7)
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# If not set willingness will be calculated
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# dynamically based on battery/power status
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# (default is 3)
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# Willingness 3
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# HNA (Host network association) allows the OLSR to announce
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# additional IPs or IP subnets to the net that are reachable
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# through this node.
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# Syntax for HNA4 is "network-address network-mask"
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# Syntax for HNA6 is "network-address prefix-length"
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# (default is no HNA)
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Hna4
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{
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# Internet gateway
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# 0.0.0.0 0.0.0.0
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# specific small networks reachable through this node
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# 15.15.0.0 255.255.255.0
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}
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Hna6
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{
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# Internet gateway
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# 0:: 0
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# specific small networks reachable through this node
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# fec0:2200:106:0:0:0:0:0 48
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}
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# Hysteresis for link sensing (only for hopcount metric)
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# Hysteresis adds more robustness to the link sensing
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# but delays neighbor registration.
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# (defaults to yes)
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# UseHysteresis yes
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# Hysteresis parameters (only for hopcount metric)
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# Do not alter these unless you know what you are doing!
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# Set to auto by default. Allowed values are floating point
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# values in the interval 0,1
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# THR_LOW must always be lower than THR_HIGH!!
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# (default is 0.5/0.8/0.3)
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# HystScaling 0.50
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# HystThrHigh 0.80
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# HystThrLow 0.30
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# TC redundancy
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# Specifies how much neighbor info should be sent in
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# TC messages. Because of a design problem in the 0.5.x
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# dijkstra implementation this value must be set to 2.
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# 2 - send all neighbors
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# (default is 2)
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# TcRedundancy 2
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# MPR coverage specifies how many MPRs a node should
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# try select to reach every 2 hop neighbor. Because of
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# a design problem in the 0.5.x dijkstra algorithm this
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# value should be set to 7.
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# (default is 7)
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# MprCoverage 7
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################################
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### OLSR protocol extensions ###
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################################
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# Link quality level switch between hopcount and
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# cost-based (mostly ETX) routing. Because of
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# a design problem in the 0.5.x dijkstra algorithm this
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# value should not be set to 1.
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# 0 = do not use link quality
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# 2 = use link quality for MPR selection and routing
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# (default is 2)
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LinkQualityLevel 2
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LinkQualityAlgorithm "etx_ff"
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# Fisheye mechanism for TCs (0 meansoff, 1 means on)
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# (default is 1)
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LinkQualityFishEye 0
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#####################################
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### Example plugin configurations ###
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#####################################
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# Olsrd plugins to load
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# This must be the absolute path to the file
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# or the loader will use the following scheme:
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# - Try the paths in the LD_LIBRARY_PATH
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# environment variable.
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# - The list of libraries cached in /etc/ld.so.cache
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# - /lib, followed by /usr/lib
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#
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# the examples in this list are for linux, so check if the plugin is
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# available if you use windows/BSD.
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# each plugin should have a README file in it's lib subfolder
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# LoadPlugin "olsrd_txtinfo.dll"
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#LoadPlugin "olsrd_txtinfo.so.0.1"
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#{
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# the default port is 2006 but you can change it like this:
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#PlParam "port" "8080"
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# You can set a "accept" single address to allow to connect to
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# txtinfo. If no address is specified, then localhost (127.0.0.1)
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# is allowed by default. txtinfo will only use the first "accept"
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# parameter specified and will ignore the rest.
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# to allow a specific host:
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#PlParam "accept" "172.29.44.23"
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# if you set it to 0.0.0.0, it will accept all connections
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#PlParam "accept" "0.0.0.0"
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#}
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######################################
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### OLSRd Interfaces configuration ###
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######################################
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# multiple interfaces can be specified for a single configuration block
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# multiple configuration blocks can be specified
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# WARNING, don't forget to insert your interface names here !
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Interface "ath0"
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{
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# Emission intervals in seconds.
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# If not defined, Freifunk network defaults are used
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# (default is 2.0/20.0 for Hello and 5.0/300.0 for Tc/Mid/Hna)
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# HelloInterval 2.0
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# HelloValidityTime 6.0
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# TcInterval 5.0
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# TcValidityTime 30.0
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# MidInterval 5.0
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# MidValidityTime 30.0
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# HnaInterval 5.0
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# HnaValidityTime 30.0
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}
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@@ -20,6 +20,9 @@ export ATH_MODULE_ARGS="ifname=$NETIF"
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WIFI_MODE=`grep wifi_mode /data/config.ini | awk -F "=" '{ gsub(/ */,"",$2); print $2}'`
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# ad-hoc wireless mesh routing daemon disabled by default
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OLSR=false
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case $WIFI_MODE in
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0)
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WIFI_MODE=master
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@@ -30,6 +33,10 @@ case $WIFI_MODE in
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2)
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WIFI_MODE=managed
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;;
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3)
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WIFI_MODE=ad-hoc
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OLSR=true
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;;
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*)
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WIFI_MODE=master
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;;
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@@ -84,7 +91,17 @@ SSID=ardrone2_wifi
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echo "SSID=\"$SSID\""
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fi
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RANDOM_CHAN=`grep wifi_channel /data/config.ini | awk -F "=" '{print $2}'`
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RANDOM_CHAN=`echo $RANDOM_CHAN`
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# Default random channel
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if [ -n "$RANDOM_CHAN" ]
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then
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echo "RANDOM_CHAN=$RANDOM_CHAN"
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else
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#default RANDOM_CHAN.
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RANDOM_CHAN=auto
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echo "RANDOM_CHAN=\"$RANDOM_CHAN\""
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fi
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echo "Creating $WIFI_MODE Network $SSID"
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@@ -181,11 +198,17 @@ echo $MAC_ADDR `date` `/bin/random_mac` > /dev/urandom
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telnetd -l /bin/sh
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# Check if not booting in master mode
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if [ "$WIFI_MODE" != "managed" ]
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if [ "$WIFI_MODE" != "managed" ] && [ "$OLSR" != "true" ]
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then
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udhcpd /tmp/udhcpd.conf
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fi
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# Check OLSR deamon should be started
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if [ "$OLSR" = "true" ] && [ -f "/bin/olsrd" ] && [ -f "/etc/olsrd/olsrd.conf" ]
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then
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olsrd
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fi
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# Adding route for multicast-packet
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route add -net 224.0.0.0 netmask 240.0.0.0 dev $NETIF
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