> For the complete documentation index, see [llms.txt](https://mrasl1.gitbook.io/mrasl/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://mrasl1.gitbook.io/mrasl/firefly-hexarotor-uav/firefly_setup.md).
# Pre-setup
## Preliminaries
* [ ] Simulation: successful test of your own controller on [ROS/Gazebo](http://gazebosim.org/).
* [ ] Packages installed
* Firefly OBC
* [asctec\_mav\_framework](https://github.com/MRASL/asctec_mav_framework): framework for data aquisition and position control to be used with the highlevel (HL) processor of Ascending Technologies helicopters
* [MSF](https://github.com/ethz-asl/ethzasl_msf): Modular framework for multi sensor fusion based on an Extended Kalman Filter
* Controller: in this tutorial, the [gain-scheduling controller](https://github.com/MRASL/gsft_control) will be tested
* Remote Computer
* [VRPN Client](https://app.gitbook.com/Equipment/Vicon/Usage): connects to the Vicon server through the Virtual Reality Peripheral Network; provides position, orientation, velocity and angular velocity.
* [ ] VICON setup: see our [Vicon page](/mrasl/vicon/overview.md) for more detail.
* [ ] Power on
* Firefly's FCU (flight control unit) with an ASCTEC battery fully charged (5000 mAh, 11.1V)
* Firefly's On-Board Computer (OBC)
## Network
Remote monitoring and control the Firefly hexarotor UAV from a distance computer. In this tutorial, the desktop `L5816-18` and the object `firefly_blue` are used.
### **IP address**
The remote computer and the Firefly have to be connected to the **same network** (MRASL). You can check your IP address by typing `ifconfig` in a terminal.
* The `firefly_blue` IP is [192.168.1.12](https://app.gitbook.com/Equipment/Networking/LAN.md).
* For this tutorial assume that the remote computer IP is **192.168.1.4**.
### **Remote monitoring and control of the Firefly from a distance computer**
* Check the connectivity between the remote computer and the `firefly_blue` by running the following command in a remote computer terminal
```
$ ping 192.168.1.12
```
* To log into the Firefly's OBC we use the following commands
```
$ ssh asctec@192.168.1.12
```
This command will open a ssh channel to the `firefly_blue` (default password is `asctec`).
* If you are using the desktop L5816-18, you can also running the permanent *alias*
```
$ connect_firefly_blue
```
* We will use the `firefly_blue` as the ROS master, by setting the **ROS\_MASTER\_URI** and **ROS\_IP** variables to the drone's IP. To change the variables we use the following commands in the remote computer terminal
```
$ export ROS_MASTER_URI=http://192.168.1.12:11311
$ export ROS_IP=192.168.1.4
```
If you are using the desktop L5816-18, you can also running the permanent *alias*
```
$ master_firefly_blue
```
## ROS environment
Setting up the ROS environment: don't forget to run `$ source devel/setup.bash` in each terminal before continue with the following subsections. If you are using the the `firefly_blue` and the desktop L5816-18, you can also running the permanent *alias* `$ gotien`.
### **Firefly's OBC**
* If you want to implement your own controller, you should list and kill all default nodes on OBC by running the following commands
```
$ rosnode list
$ rosnode kill /AsctecProc
$ rosnode kill /AutoPilot
```
* Running `/fcu`, `/mv_26805107` nodes (Asctec Framework HL interface) and `/pose_sensor` node (MSF, private name)
```
$ roslaunch asc_hl_interface fcu.launch
$ roslaunch msf_updates viconpos_sensor.launch
```
### **Remote Computer**
* Running the `/firefly_blue/vrpn_client` node
```
$ roslaunch ros_vrpn_client mrasl_vicon.launch
```
This launch file is a copy of the original `asl_vicon.launch`, using for the `firefly_blue` object and the Vicon server IP [192.168.1.200](https://app.gitbook.com/Equipment/Networking/LAN.md)
```
```
After running these launch files, the `/pose_sensor` node may show this message (OBC terminal): `Pose measurement throttling is on, dropping messagesto be below 50.000000 Hz`.