Mobile beacon (“hedge”) interfaces
Via virtual UART via USB: Supported interfaces
This is the easiest way to connect since no soldering is required and protocol is the same for different operating systems.
SPI & UART interface pins on beacon board
Mobile beacon (“hedge”) libraries
Python library for beacon
- Here is the Python code for Linux-based devices integration via virtual UART via USB
- Library is easy to use. Also, here is detailed description and example
- Code is fairly universal; Tested on:
- Ubuntu 16.04
- Raspbian Jessie
- Mac (OS X 10.10)
- Python 2.7 & Python 3+
- There are handlers of different exceptions, for example, non-standard states of COM/USB
The Python library provides quick and easy ability for integration of ultrasound navigation system with various Linux-based devices. Among them are Raspberry Pi and other single-board PCs. This code is free to use in your applications (please include a reference link to this web page).
C library for beacon
- Here is the C code + guiding document
- Supported operating systems:
- Microsoft Windows
- GNU/Linux (including Raspberry Pi)
- Mac OS X
- Additionally, link to Github repository
- Improved processor load
- Fixed compiling in Visual Studio
- Added parsing for Paired Beacons angle
- Added parsing for distance raw data
- Added parsing for IMU raw data
- Added parsing for IMU fusion packet
Android/Java library for beacon
- Here is the Java code and simple Android application
- Tested on:
- Samsung S7 (API 25)
- Huawei P6 (API 22)
Mobile beacon (“hedge”) integrations
Connection of Marvelmind hedgehog to Arduino via UART and SPI
ROS support for PC and single-board computers including Raspberry Pi
Marvelmind ROS package – GitHub link.
Marvelmind ROS package v1.0.11 compatibility and main changes:
- Supports receiving telemetry, quality and waypoints data
- hedge_rcv_bin allows to specify serial port baudrate in command line
- Supported ROS versions:
- Noetic for Ubuntu 20.04
- Melodic for Ubuntu 18.04
Please, check the instructions on ROS integration.
Pixhawk support and NMEA interface description
Here is a detailed PixHawk and Marvelmind Integration Manual.
Please, also check the instructions on Pixhawk integration and description of interfacing via NMEA0183 protocol.
Sending path to your robot/copter
- Here is an explanation how to send path data via mobile beacon to your robot/copter and sample code.
- Protocol description => 2.3.1. Request of writing the movement path
- Relevant forum discussion
Modem and dashboard interfaces
Protocol of data exchange with modem via USB interface
The Dashboard software log description
- Forum link or direct link to the image. First column appeared later, and it is discussed in this topic. It is an additional absolute column – a timestamp – time in milliseconds passed from January,1 of 1970 (UNIX time) – Dashboard SW permanently writes coordinates into log file ‘hedgehogs.log’ that is stored into the Dashboard folder
Data exchange with Dashboard via UDP