5
10.2. Beacon HW v4.9 external interface 4x4 pinout top view ........................................................ 223
10.3. Modem HW v4.9 external interface pinout top view ............................................................... 224
10.4. Mini-RX internal solderable pinouts (for experienced users only) .......................................... 225
11. Advanced system settings and optimization ................................................................................ 226
11.1. Radio Profiles compatibility ..................................................................................................... 227
Examples of different configurations .............................................................................................. 228
11.2. Wi-Fi settings for Super-Modem ............................................................................................. 229
11.2.1. Wi-Fi settings menu in Dashboard .................................................................................... 229
11.2.2. Static IP.............................................................................................................................. 231
11.3. Building big maps in Inverse Architecture (IA) ........................................................................ 233
11.3.1. Introduction ........................................................................................................................ 233
11.3.2. TDMA sequence: ............................................................................................................... 234
11.3.3. TDMA Type 2 - Full-overlapping submaps ........................................................................ 236
11.4. Increasing update rate ............................................................................................................ 239
11.5. Reducing location update latency ........................................................................................... 240
11.6. How to Place Beacons ............................................................................................................ 242
11.7. Using the Oscilloscope ........................................................................................................... 243
11.8. Proper Ultrasonic Signal Detection ......................................................................................... 244
11.9. Using hedgehog.log file .......................................................................................................... 245
11.10. System Accuracy Evaluation .................................................................................................. 246
11.11. Calibration of the accelerometer ............................................................................................. 247
11.12. Settings to obtain correct north direction ................................................................................ 249
11.13. Communication of Pixhawk with Marvelmind mobile beacon ................................................. 250
11.14. Sending path to robot ............................................................................................................. 251
11.15. Proper ultrasonic coverage .................................................................................................... 254
11.16. Sensors settings: example for 2D and mobile beacon .......................................................... 256
11.17. Powering beacons .................................................................................................................. 257
11.18. Power supply and Leds .......................................................................................................... 258
12. Frequently Asked Questions ........................................................................................................ 259
13. Troubleshooting checklist ............................................................................................................ 261
13.1. Checklist before starting the system: ...................................................................................... 262
14. Contacts ....................................................................................................................................... 263
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