etherlink

Ethernet over Pprzlink

Provides transparent connection between a GCS linux computer and a Mission/Copilot computer (also a linux computer). Etherlink provides a tap interface on each side, passing network traffic as PAYLOAD_COMMAND message to the autopilot.

Howto Autopilot

1. make sure you have latest master version of paparazzi
2. add copilot module with enabled PAYLOAD_COMMAND forwarding:

<module name="copilot">
  <define name="FORWARD_PAYLOAD" value="TRUE"/>
</module>

3. you need a working serial connection to your Mission computer/Copilot
4. Clean, Build & Upload, make sure you have telemetry from the Autopilot

Howto GCS

1. cargo build
2. run ./init_gcs.sh - that will create a tap interface tap1 with IP addr 192.168.69.1
3. run a regular pprz session with link etc.
4. cargo run - will start etherlink

Howto Copilot

1. cargo build (has to be done while online)
2. run ./init_copilot.sh - that will create a tap interface tap1 with IP addr 192.168.69.2
3. run link program
4. cargo run to start etherlink

Now you can treat the tap1 interface as a regular interface, most likely you will want to send UDP/TCP data (which requires an application on the other side to listen at a particular port, otherwise an ICMP message "Destination unreachable" will be emitted). But for start, you can just ping your Copilot:-)