Copyright © 2014, 2015, 2016 Jalil Modares

This program is part of my Ph.D. Dissertation research in the Department of Electrical Engineering at the University at Buffalo. I work in UB's Multimedia Communications and Systems Laboratory with my Ph.D. adviser, Prof. Nicholas Mastronarde http://www.eng.buffalo.edu/~nmastron/.

If you use this program for your work/research, please cite: J. Modares, N. Mastronarde, M. J. Medley, J. D. Matyjas, "UB-ANC: An Open Platform Testbed for Software-Defined Airborne Networking and Communications" http://arxiv.org/abs/1509.08346.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

UB-ANC Emulator

An Emulation Framework for Multi-Agent Drone Networks

Build

There are three main steps to build UB-ANC Emulator:

1. build ArduCopter firmware

git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
git submodule update --init --recursive
cd ArduCopter
make sitl -j4

2. build APM Planner

• https://github.com/ArduPilot/apm_planner

3. build UB-ANC Emulator

git clone https://github.com/jmodares/UB-ANC-Emulator
mkdir build-emulator
cd build-emulator
qmake ../UB-ANC-Emulator
make -j4

Configuration

In order to configure firmware, run the APM Planner, and make a TCP connection to firmware, and change these parameters:

• SYSID_THISMAV
• ARMING_CHECK

For configuring UB-ANC Emulator, follow the steps below:

mkdir objects
cp path_to_ArduCopter.elf_and_eeprom.bin objects/your_drone_name/firmware_and_eeprom.bin
cp path_to_agent objects/your_drone_name/agent

Each port represents an agent, starting from 5763, 5773, etc.