NOTE: For Flair version <= 0.2.1, see this page.

Sinus demo

This page explains how to compile and test a simple program using Flair. Moreover, this program is commented to help understand how to code with Flair. You can also read Flair's documentation page.

The program generates a sinusoidal signal and low pass filters are added. Everything can be configured through the ground control station. This demo shows how filters are added and updated, and how to draw graphs on ground control station.

Sources are in flair-src/demos/Sinus.

NB: Filter and SensorActuator libraries sources are also a good starting point to see how to program with Flair. Yet, they use the ​pimpl idiom, which can be harder to read than this example.

Compilation

There is various ways to compile/recompile it:

• Compile among everything (recommended), maybe you have already done it!
• Recompile only this demo
• Generate and compile it alone

Execution on a PC

ground control station

$ $FLAIR_ROOT/flair-install/bin/tools/core2-64/launch_flairgcs.sh

program

$ cd $FLAIR_ROOT/flair-install/bin/demos/core2-64/Sinus
$ ./Sinus.sh

This script, as for ground control station, launches the program with some arguments.

Note that the script also detects if the system uses Xenomai or not, in order to launch the corresponding program version (real time or not).

setup

When executing the program, the ground control station should construct itself and show setup and graphs for the sinus.

Execution on a target

copying files to target

Adapt it to your target ip address and architecture:

$ scp $FLAIR_ROOT/flair-install/bin/demos/armv7a-neon/Sinus/* root@192.168.147.x:

x is the drone number, from 18 to 63 in the Heudiasyc configuration.

execution

PC side (ground control station)

$ $FLAIR_ROOT/flair-install/bin/tools/core2-64/launch_flairgcs.sh

target side

Open a terminal on the target and execute the program through its script:

# ./Sinus.sh PC_address

With PC_address your PC IP address.

This script, as for ground control station, launches the program with some arguments.

Note that the script also detects if the system uses Xenomai or not, in order to launch the corresponding program version (real time or not).

setup

When executing the program, the ground control station should construct itself and show setup and graphs for the sinus.