compatibility with campan softmod

disco/uavpal/bin/port_mapping.sh

@@ -0,0 +1,12 @@
+#!/bin/sh
+
+nodemcu_ip="`head -1 /data/ftp/uavpal/conf/nodemcu_ip |tr -d '\r\n' |tr -d '\n'`"
+
+echo 1 > /proc/sys/net/ipv4/ip_forward
+
+iptables -t nat -F PREROUTING
+iptables -t nat -F POSTROUTING
+
+iptables -t nat -A PREROUTING -p udp --dport 8888 -j DNAT --to-destination $nodemcu_ip:8888
+iptables -t nat -A PREROUTING -p tcp --dport 80 -j DNAT --to-destination $nodemcu_ip:80
+iptables -t nat -A POSTROUTING -d $nodemcu_ip -p tcp --dport 80 -j SNAT --to 192.168.42.1

disco/uavpal/bin/uavpal_disco.sh

@@ -156,5 +156,8 @@ if [ ! -d "/data/lib/zerotier-one/networks.d" ]; then
 		fi
 	done
 fi
+
+/data/ftp/uavpal/bin/port_mapping.sh
+
 ulogger -s -t uavpal_drone "*** idle on LTE ***"
 } &

disco/uavpal/conf/nodemcu_ip

@@ -0,0 +1,2 @@
+192.168.42.25
+# your esp32 or nodemcu ip like 192.168.42.25

disco/uavpal/conf/zt_networkid

@@ -1,2 +1,2 @@
-0123456789abcdef
-# Enter your ZeroTier Network ID on the first line - this is the same value for drone's zt_networkid and skycontroller2's zt_networkid.
+ffffffffffffffff
+# Enter your ZeroTier Network ID on the first line - this is the same value for disco's zt_networkid and skycontroller2's zt_networkid.

esp32/esp32_wifi_udp_servo.ino

@@ -0,0 +1,115 @@
+#include <WiFi.h>
+#include <WiFiUdp.h>
+#include <Ticker.h>
+#include <Servo.h>
+
+const char* ssid     = "DISCO-027361";
+const char* password = "";
+IPAddress local_IP(192, 168, 42, 25);
+IPAddress gateway(192, 168, 42, 1);
+IPAddress subnet(255, 255, 255, 0);
+IPAddress primaryDNS(8, 8, 8, 8); //optional
+IPAddress secondaryDNS(8, 8, 4, 4); //optional
+
+unsigned int localPort = 8888;      // local port to listen on
+#define UDP_TX_PACKET_MAX_SIZE 64
+uint8_t packetBuffer[UDP_TX_PACKET_MAX_SIZE]; //buffer to hold incoming packet,
+WiFiUDP Udp;
+
+int ledState = LOW;
+unsigned long previousMillis = 0;
+const long blinkInterval = 1000;
+
+Servo servo1;
+const int servo1Pin = 16;
+const int servo1Open = 95;
+const int servo1Close = 0;
+
+Ticker discoTicker;
+int discoCount = 0;
+#define ACTION_TIME 1
+
+void setup()
+{
+  Serial.begin(115200);
+
+  if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
+    Serial.println("STA Failed to configure");
+  }
+
+  Serial.print("Connecting to ");
+  Serial.println(ssid);
+
+  WiFi.begin(ssid, password);
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+
+  Serial.println("");
+  Serial.println("WiFi connected!");
+  Serial.print("IP address: ");
+  Serial.println(WiFi.localIP());
+  Serial.print("ESP Mac Address: ");
+  Serial.println(WiFi.macAddress());
+  Serial.print("Subnet Mask: ");
+  Serial.println(WiFi.subnetMask());
+  Serial.print("Gateway IP: ");
+  Serial.println(WiFi.gatewayIP());
+  Serial.print("DNS: ");
+  Serial.println(WiFi.dnsIP());
+
+  if(Udp.begin(localPort)) {
+      Serial.print("UDP Listening on IP: ");
+      Serial.println(WiFi.localIP());
+  }
+
+  servo1.attach(servo1Pin);
+  servo1.write(servo1Close);
+
+  pinMode(LED_BUILTIN, OUTPUT);     // Initialize the LED_BUILTIN pin as an output
+}
+
+void servo1Action(bool action) {
+  if(action){
+    servo1.write(servo1Open);
+    //digitalWrite(LED_BUILTIN, LOW);
+  }
+  else{
+    servo1.write(servo1Close);
+    //digitalWrite(LED_BUILTIN, HIGH);
+  }
+}
+
+void loop()
+{
+  unsigned long currentMillis = millis();
+  if (currentMillis - previousMillis >= blinkInterval) {
+    previousMillis = currentMillis;
+    if (ledState == LOW) {
+      ledState = HIGH;  // Note that this switches the LED *off*
+    } else {
+      ledState = LOW;  // Note that this switches the LED *on*
+    }
+    digitalWrite(LED_BUILTIN, ledState);
+  }
+
+  int packetSize = Udp.parsePacket(); // if there's data available, read a packet
+  if (packetSize) {
+    discoCount = 0;
+    Udp.read(packetBuffer, UDP_TX_PACKET_MAX_SIZE);
+    Serial.print("Udp.read: ");
+    Serial.println((char *)packetBuffer);
+    if(packetBuffer[0]=='1'){
+      if(packetBuffer[1]=='1')
+        servo1Action(true);
+      else if(packetBuffer[1]=='0')
+        servo1Action(false);
+    }
+    Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());  
+    Udp.write(*packetBuffer);  // send a reply, to the IP address and port that sent us the packet we received
+    Udp.endPacket();
+  }
+}
+

skycontroller2/uavpal/bin/servo1-timmer.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+sleep $1
+killall servo1.sh
+/data/lib/ftp/uavpal/bin/servo1.sh $2 $3 &

skycontroller2/uavpal/bin/servo1.sh

@@ -0,0 +1,47 @@
+#!/bin/sh
+is_substring(){
+	case "$2" in
+		*$1*) return 0;;
+		*) return 1;;
+	esac
+}
+
+servo_state=$1
+press_seconds=2
+input_dev_settings="/dev/input/event0"
+nodemcu_ip="`head -1 /data/lib/ftp/uavpal/conf/nodemcu_ip |tr -d '\r\n' |tr -d '\n'`"
+if [ $2 == "lte" ]; then
+	nodemcu_ip="192.168.42.1"
+fi
+
+while true; do
+	keystep=0
+	evtest ${input_dev_settings} | while read line; do
+		if [ $keystep == 0 ]; then
+			if is_substring "type 1 (EV_KEY), code 293 (BTN_PINKIE), value 1" "$line"; then
+				killall servo1-timmer.sh
+				/data/lib/ftp/uavpal/bin/servo1-timmer.sh $press_seconds $servo_state $2 &	
+				servo1_button_timestamp1=$(date "+%s")
+				keystep=1
+			fi
+		else
+			if is_substring "type 1 (EV_KEY), code 292 (BTN_TOP2), value 0" "$line"; then
+				servo1_button_timestamp2=$(date "+%s")
+				if [ $(($servo1_button_timestamp2-$servo1_button_timestamp1)) -le $press_seconds ]; then
+					if [ $servo_state == 0 ]; then
+						echo "11" | ./data/lib/ftp/uavpal/bin/netcat-arm -u ${nodemcu_ip} 8888 -w1&
+						servo_state=1
+					else
+						echo "10" | ./data/lib/ftp/uavpal/bin/netcat-arm -u ${nodemcu_ip} 8888 -w1&
+						servo_state=0
+					fi				
+					killall servo1-timmer.sh
+					keystep=0
+					ulogger -s -t uavpal_sc2 "... servo1 button press event detected"
+				fi
+
+			fi
+		fi
+	done
+done
+

skycontroller2/uavpal/bin/uavpal_sc2.sh

@@ -1,6 +1,7 @@
 #!/bin/sh
 
-# functions
+first=1
+
 change_led_color()
 {
 	case "$1" in
@@ -86,12 +87,6 @@ power_btn_listener()
 	fi
 }
 
-conf_read()
-{
-	result=$(head -1 /data/lib/ftp/uavpal/conf/${1})
-	echo "$result" |tr -d '\r\n' |tr -d '\n'
-}
-
 main()
 {
 	# variables
@@ -134,6 +129,10 @@ main()
 	else
 		input_dev_settings="/dev/input/event1"
 	fi
+
+	killall servo1.sh
+	/data/lib/ftp/uavpal/bin/servo1.sh 0 wifi &
+
 	while true; do
 		# wait for Settings button event
 		while true; do
@@ -182,6 +181,9 @@ switch_to_lte()
 	if [ "$platform" == "mpp" ]; then
 		ulogger -s -t uavpal_sc2 "... pausing process wifid (mpp platform only)"
 		killall -SIGSTOP wifid
+	fi
+
+	if [ "$platform" == "mpp" ]; then
 		ulogger -s -t uavpal_sc2 "... launching process wifid-uavpal in the background (mpp platform only)"
 		WIFID_DRIVER=bcmdriver /usr/bin/wifid --mode STA --ip 192.168.42.3 --suffix uavpal &
 		wifid_suffix="--suffix uavpal"
@@ -190,8 +192,8 @@ switch_to_lte()
 	fi
 
 	for p in `seq 1 $wifi_connection_attempts`; do
-		ulogger -s -t uavpal_sc2 "... connecting to mobile Wi-Fi hotspot \"$(conf_read ssid)\" (try $p of $wifi_connection_attempts)"
-		wifid-cli ${wifid_suffix} connect "$(conf_read ssid)" 0 "$(conf_read wpa)"
+		ulogger -s -t uavpal_sc2 "... connecting to mobile Wi-Fi hotspot (try $p of $wifi_connection_attempts)"
+		wifid-cli ${wifid_suffix} connect "`head -1 /data/lib/ftp/uavpal/conf/ssid |tr -d '\r\n' |tr -d '\n'`" 0 "`head -1 /data/lib/ftp/uavpal/conf/wpa |tr -d '\r\n' |tr -d '\n'`"
 
 		for q in `seq 1 $wifi_connection_timeout_seconds`; do
 			wifi_connection_status=`wifid-cli ${wifid_suffix} status 2>&1 |grep state |awk '{print $3}'`
@@ -245,7 +247,7 @@ switch_to_lte()
 		kill -9 `ps |grep wifid |grep suffix |awk '{print $1}'`
 	fi
 
-	if [ -d "/data/lib/zerotier-one/networks.d" ] && [ ! -f "/data/lib/zerotier-one/networks.d/$(conf_read zt_networkid).conf" ]; then
+	if [ -d "/data/lib/zerotier-one/networks.d" ] && [ ! -f "/data/lib/zerotier-one/networks.d/$(head -1 /data/lib/ftp/uavpal/conf/zt_networkid |tr -d '\r\n' |tr -d '\n').conf" ]; then
 		ulogger -s -t uavpal_sc2 "... zerotier config's network ID does not match zt_networkid config - removing zerotier data directory to allow join of new network ID"
 		rm -rf /data/lib/zerotier-one 2>/dev/null
 		mkdir -p /data/lib/zerotier-one
@@ -256,15 +258,15 @@ switch_to_lte()
 	/data/lib/ftp/uavpal/bin/zerotier-one -d 2>/tmp/zerotier-one_err
 
 	if [ ! -d "/data/lib/zerotier-one/networks.d" ]; then
-		ulogger -s -t uavpal_sc2 "... (initial-)joining zerotier network ID $(conf_read zt_networkid)"
+		ulogger -s -t uavpal_sc2 "... (initial-)joining zerotier network ID"
 		while true
 		do
-			ztjoin_response=`/data/lib/ftp/uavpal/bin/zerotier-one -q join $(conf_read zt_networkid)`
+			ztjoin_response=`/data/lib/ftp/uavpal/bin/zerotier-one -q join $(head -1 /data/lib/ftp/uavpal/conf/zt_networkid |tr -d '\r\n' |tr -d '\n')`
 			if [ "`echo $ztjoin_response |head -n1 |awk '{print $1}')`" == "200" ]; then
-				ulogger -s -t uavpal_sc2 "... successfully joined zerotier network ID $(conf_read zt_networkid)"
+				ulogger -s -t uavpal_sc2 "... successfully joined zerotier network ID"
 				break # break out of loop
 			else
-				ulogger -s -t uavpal_sc2 "... ERROR joining zerotier network ID $(conf_read zt_networkid): $ztjoin_response - trying again"
+				ulogger -s -t uavpal_sc2 "... ERROR joining zerotier network ID: $ztjoin_response - trying again"
 				sleep 1
 			fi
 		done
@@ -321,10 +323,13 @@ switch_to_lte()
 
 	kill9_pid_tree $pow_pid
 	pow_pid=0
-
+	
 	ulogger -s -t uavpal_sc2 "... resuming process mppd"
 	killall -SIGCONT mppd
 
+	killall servo1.sh
+	/data/lib/ftp/uavpal/bin/servo1.sh 0 lte &
+
 	ulogger -s -t uavpal_sc2 "*** idle on LTE ***"
 }
 
@@ -351,6 +356,10 @@ switch_to_wifi()
 	ulogger -s -t uavpal_sc2 "... terminating processes required for LTE"
 	killall zerotier-one
 	killall udhcpc
+
+	killall servo1.sh
+	/data/lib/ftp/uavpal/bin/servo1.sh 0 wifi &	
+
 	ulogger -s -t uavpal_sc2 "*** idle on Wi-Fi (or at least trying to connect) ***"
 }
 

skycontroller2/uavpal/conf/nodemcu_ip

@@ -0,0 +1,2 @@
+192.168.42.25
+# your esp32 or nodemcu ip like 192.168.42.25

skycontroller2/uavpal/conf/ssid

@@ -1,2 +1,2 @@
-my-wifi-ssid-name
+xxxxxx
 # Enter your mobile hotspot's name (SSID) on the first line. This is required for Skycontroller 2 to connect to the mobile hotspot via Wi-Fi.

skycontroller2/uavpal/conf/wpa

@@ -1,2 +1,2 @@
-my-wifi-passphrase
+xxxxxx
 # Enter your mobile hotspot's Wi-Fi password (WPA Key) on the first line. This is required for Skycontroller 2 to connect to the mobile hotspot via Wi-Fi.

skycontroller2/uavpal/conf/zt_networkid

@@ -1,2 +1,2 @@
-0123456789abcdef
-# Enter your ZeroTier Network ID on the first line - this is the same value for drone's zt_networkid and skycontroller2's zt_networkid.
+ffffffffffffffff
+# Enter your ZeroTier Network ID on the first line - this is the same value for disco's zt_networkid and skycontroller2's zt_networkid.

糖豆巴布是js小人

@@ -0,0 +1 @@
+