{"id":1252,"date":"2018-10-18T00:22:37","date_gmt":"2018-10-18T00:22:37","guid":{"rendered":"https:\/\/uavrt.nau.edu?page_id=1252"},"modified":"2019-07-26T16:35:45","modified_gmt":"2019-07-26T23:35:45","slug":"adv-doc","status":"publish","type":"page","link":"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/","title":{"rendered":"Advanced Documentation"},"content":{"rendered":"<div id=\"pl-1252\"  class=\"panel-layout\" ><div id=\"pg-1252-0\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-0-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-0-0-0\" class=\"so-panel widget widget_black-studio-tinymce widget_black_studio_tinymce panel-first-child\" data-index=\"0\" ><div id=\"advanced\" class=\"panel-widget-style panel-widget-style-for-1252-0-0-0\" ><div class=\"textwidget\"><p>This section contains additional documentation only necessary for system development. The information provided here will showcase development software and detailed system descriptions that can be used for troubleshooting and system modifications.<\/p>\n<\/div><\/div><\/div><div id=\"panel-1252-0-0-1\" class=\"so-panel widget widget_black-studio-tinymce widget_black_studio_tinymce panel-last-child\" data-index=\"1\" ><div id=\"atom\" class=\"panel-widget-style panel-widget-style-for-1252-0-0-1\" ><h3 class=\"widget-title\">Setting Up Atom<\/h3><div class=\"textwidget\"><p><span style=\"font-weight: 400;\">While Atom is not required to run any of the programs on this project, it does provide a useful interface for editing code. If you intent to modify any of the code on the UDOO, it is highly suggested that you use Atom as your interface for editing code. Atom is free and open sourced. The video below provides step by step instructions for downloading the software and setting up an environment geared towards python coding.<\/span><\/p>\n<p style=\"text-align: center;\"><iframe loading=\"lazy\" src=\"\/\/www.youtube.com\/embed\/DjEuROpsvp4\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<\/div><\/div><\/div><\/div><\/div><div id=\"pg-1252-1\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-1-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-1-0-0\" class=\"so-panel widget widget_black-studio-tinymce widget_black_studio_tinymce panel-first-child\" data-index=\"2\" ><div id=\"rtdoc\" class=\"panel-widget-style panel-widget-style-for-1252-1-0-0\" ><h3 class=\"widget-title\">Radio Telemetry Documentation<\/h3><div class=\"textwidget\"><p>The complete UAV-RT system includes a detailed relationship of connections between the UAV flight controller, the UDOO companion computer, and the Ground Control Station (GCS). This sections hopes to shine some light on the interaction of the systems\u00a0 and provide insight into the custom Python scripts developed on the UDOO. This section is not necessary for using the system and is meant to assist in the development and future improvements of the UAV-RT system. The diagram below shows a summary of the UAV-RT system, including each subsystem. Highlighted are the connection for data, power, and control signals within the system. While this documentation will touch on the the <a href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/control\/\">GCS system<\/a> and the <a href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/vehicle\/vehicle-assembly\/\">UAV flight controller<\/a>, the focus is the radio telemetry subsystem. Users should reference the corresponding documentation for information pertaining to the other subsystems.<\/p>\n<\/div><\/div><\/div><div id=\"panel-1252-1-0-1\" class=\"so-panel widget widget_sow-image panel-last-child\" data-index=\"3\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-image so-widget-sow-image-default-c67d20f9f743-1252\"\n\t\t\t\n\t\t>\n\n<div class=\"sow-image-container\">\n\t\t<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2019\/07\/System-block-diagram.jpg\" width=\"1440\" height=\"914\" srcset=\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2019\/07\/System-block-diagram.jpg 1440w, https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2019\/07\/System-block-diagram-300x190.jpg 300w, https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2019\/07\/System-block-diagram-768x487.jpg 768w, https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2019\/07\/System-block-diagram-1024x650.jpg 1024w\" sizes=\"(max-width: 1440px) 100vw, 1440px\" title=\"System Block Diagram\" alt=\"\" \t\tclass=\"so-widget-image\"\/>\n\t<\/div>\n\n<\/div><\/div><\/div><\/div><div id=\"pg-1252-2\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-2-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-2-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child\" data-index=\"4\" ><div id=\"file_struct\" class=\"panel-widget-style panel-widget-style-for-1252-2-0-0\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t><h3 class=\"widget-title\">UAV-RT File Structure<\/h3>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p>While specific<a href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/companion-computer\/\"> initial software configuration<\/a> is required for UDOO, the main code is housed in the UAV-RT folder. This folder is responsible for establishing a UDP connection, starting\/stopping GNU Radio, recording radio data, and housing the GNU radio script. While the contents of the code are broken down and described below, a summary of the folders file structure is provided here. This folder contains the following sub-folders\/files:<\/p>\n<p><strong>CURRENT_DATA<\/strong>: This folder remains empty unless a GNU\u00a0 Radio script has been started. This folder is used to temporarily house data while GNU Radio is running (often during a flight). When the user starts GNU Radio, the script begins storing SDR and telemetry data to this folder. In addition,\u00a0 when GNU Radio is started, a copy of the curr_config file and terminal output is temporarily stored here. Once GNU Radio is stopped this folder is cleared and the data is moved to FLIGHT_DATA.<\/p>\n<p><strong>FLIGHT_DATA:<\/strong> This folder houses all the flight and radio data recorded. Each flight where GNU Radio was started and stopped has a time stamped sub-folder. The sub-folders are titled in following format for each flight: UAV-RT -yyyy-mm-dd-THH_MM-SS. Within each folder are 4 files: config.uavrt (a copy of the current config file for that flight), log.txt (copy of the terminal output), SDR.dat (binary radio data recorded), and telem.flt (telemetry data recorded).<\/p>\n<p><strong><a href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/#gnu_radio\">GNU_RADIO<\/a>:<\/strong> This folder contains 3 files related to the operation of GNU Radio. It contains a grc file (GNU Radio companion file), top_block.py (the main GNU Radio script that is modified with the latest configuration file each time before being started), and a back-up of the main script.<\/p>\n<p><strong><a href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/#udp\">UDP<\/a>:\u00a0<\/strong>Folder contains multiple custom Python scripts for initializing a UDP connection, controlling GNU Radio, reading the local configuration file, and saving data. Reference UDP documentation for complete description.<\/p>\n<p><strong><a href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/#config\">curr_config<\/a>:<\/strong> This configuration file is modified before each flight. This file contains information for the configuration of GNU radio and allows the user to change multiple variables like the beacon frequency, rate of sampling, and gain settings. The MATLAB GUI creates a new configuration file every-time the user starts GNU Radio making sure to incorporate the latest user specified settings from the GCS.<\/p>\n<\/div>\n<\/div><\/div><\/div><div id=\"panel-1252-2-0-1\" class=\"so-panel widget widget_sow-editor\" data-index=\"5\" ><div id=\"gnu_radio\" class=\"panel-widget-style panel-widget-style-for-1252-2-0-1\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t><h3 class=\"widget-title\">GNU_RADIO<\/h3>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><strong>CONTENTS<\/strong><\/p>\n<p>This folder contains three scripts related to the operation of GNU Radio. The main script in this file is titled \"top_block.py\". This is a top level python script that GNU Radio automatically generates when using GNU Radio Companion (GRC). By running this script, the user is able to run a GNU Radio flowgraph through Python. Also within this folder is the GRC file that these scripts were generated. While modifications have been made (see modifications) this script is the original GRC file used to generate the Python top_block file. Lastly, there is a \"top_block.py.bak\" file. The contents of this file will be described under operation.<\/p>\n<p><b>MODIFICATIONS<\/b><\/p>\n<p>While GNU Radio automatically generates these scripts, a few modifications have been made (the 5 lines that were modified within the code have been marked with a comment \"#MODIFIED\"). These modifications were made to to automatically detect the file path. By using the python os package code was developed so that the script could automatically detect what folder it was currently in. This modification allows...<\/p>\n<p><strong>Operation<\/strong><\/p>\n<\/div>\n<\/div><\/div><\/div><div id=\"panel-1252-2-0-2\" class=\"so-panel widget widget_sow-editor\" data-index=\"6\" ><div id=\"udp\" class=\"panel-widget-style panel-widget-style-for-1252-2-0-2\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t><h3 class=\"widget-title\">UDP<\/h3>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<\/div>\n<\/div><\/div><\/div><div id=\"panel-1252-2-0-3\" class=\"so-panel widget widget_sow-editor panel-last-child\" data-index=\"7\" ><div id=\"config\" class=\"panel-widget-style panel-widget-style-for-1252-2-0-3\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t><h3 class=\"widget-title\">curr_config<\/h3>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<\/div>\n<\/div><\/div><\/div><\/div><\/div><div id=\"pg-1252-3\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-3-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-3-0-0\" class=\"so-panel widget widget_black-studio-tinymce widget_black_studio_tinymce panel-first-child panel-last-child\" data-index=\"8\" ><div id=\"sdr_doc\" class=\"panel-widget-style panel-widget-style-for-1252-3-0-0\" ><h3 class=\"widget-title\">SDR Documentation<\/h3><div class=\"textwidget\"><p>The documents below provide information related to software defined radios and collecting radio data using GNU Radio Companion. While detailed filters are described here, make sure to reference signal processing for information regarding the system implemented on-board the UAV-RT.<\/p>\n<\/div><\/div><\/div><\/div><\/div><div id=\"pg-1252-4\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-4-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-4-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"9\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><strong>I\/Q Data Guide<\/strong>: Guide for acquiring I\/Q data with the GNU radio framework<\/p>\n<\/div>\n<\/div><\/div><\/div><div id=\"pgc-1252-4-1\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-4-1-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"10\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><a href=\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2017\/06\/I_Q_Data_Documentation_v1.pdf\">I\/Q Data Documentation [0.4 MB]<\/a><\/p>\n<\/div>\n<\/div><\/div><\/div><\/div><div id=\"pg-1252-5\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-5-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-5-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"11\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><strong>Matched Filter<\/strong>: Documentation for explaining UAVRT-SDR's current matched filter<\/p>\n<\/div>\n<\/div><\/div><\/div><div id=\"pgc-1252-5-1\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-5-1-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"12\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><a href=\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2017\/06\/Matched_Filter_Explanation.pdf\">Matched Filter Explanation [0.5 MB]<\/a><\/p>\n<\/div>\n<\/div><\/div><\/div><\/div><div id=\"pg-1252-6\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-1252-6-0\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-6-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"13\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><strong>SNR Calculation<\/strong>: Documentation for explaining UAVRT-SDR's current SNR calculation<\/p>\n<\/div>\n<\/div><\/div><\/div><div id=\"pgc-1252-6-1\"  class=\"panel-grid-cell\" ><div id=\"panel-1252-6-1-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child\" data-index=\"14\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<p><a href=\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2017\/06\/SNR_Documentation.pdf\">SNR Documentation [0.4 MB]<\/a><\/p>\n<\/div>\n<\/div><\/div><\/div><\/div><\/div>","protected":false},"excerpt":{"rendered":"<p>This section contains additional documentation only necessary for system development. The information provided here will showcase development software and detailed system descriptions that can be used for troubleshooting and system modifications. While Atom is not required to run any of the programs on this project, it does provide a useful interface for editing code. If [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":228,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v22.6 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Advanced Documentation | UAV-RT<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Advanced Documentation | UAV-RT\" \/>\n<meta property=\"og:description\" content=\"This section contains additional documentation only necessary for system development. 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If [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/\" \/>\n<meta property=\"og:site_name\" content=\"UAV-RT\" \/>\n<meta property=\"article:modified_time\" content=\"2019-07-26T23:35:45+00:00\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"4 minutes\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/\",\"url\":\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/\",\"name\":\"Advanced Documentation | UAV-RT\",\"isPartOf\":{\"@id\":\"https:\/\/uavrt.nau.edu\/#website\"},\"datePublished\":\"2018-10-18T00:22:37+00:00\",\"dateModified\":\"2019-07-26T23:35:45+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/uavrt.nau.edu\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Documentation\",\"item\":\"https:\/\/uavrt.nau.edu\/index.php\/docs\/\"},{\"@type\":\"ListItem\",\"position\":3,\"name\":\"Radio Telemetry\",\"item\":\"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/\"},{\"@type\":\"ListItem\",\"position\":4,\"name\":\"Advanced Documentation\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/uavrt.nau.edu\/#website\",\"url\":\"https:\/\/uavrt.nau.edu\/\",\"name\":\"UAV-RT\",\"description\":\"A drone based wildlife tracking system\",\"publisher\":{\"@id\":\"https:\/\/uavrt.nau.edu\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/uavrt.nau.edu\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"en-US\"},{\"@type\":\"Organization\",\"@id\":\"https:\/\/uavrt.nau.edu\/#organization\",\"name\":\"DASL Lab\",\"url\":\"https:\/\/uavrt.nau.edu\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\/\/uavrt.nau.edu\/#\/schema\/logo\/image\/\",\"url\":\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2018\/08\/DASL_Logo_2.png\",\"contentUrl\":\"https:\/\/uavrt.nau.edu\/wp-content\/uploads\/2018\/08\/DASL_Logo_2.png\",\"width\":990,\"height\":375,\"caption\":\"DASL Lab\"},\"image\":{\"@id\":\"https:\/\/uavrt.nau.edu\/#\/schema\/logo\/image\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Advanced Documentation | UAV-RT","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/uavrt.nau.edu\/index.php\/docs\/radiotelem\/adv-doc\/","og_locale":"en_US","og_type":"article","og_title":"Advanced Documentation | UAV-RT","og_description":"This section contains additional documentation only necessary for system development. 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