From 8095ff8974825588f7e57d8bd40e696dfd902ef2 Mon Sep 17 00:00:00 2001 From: AymenMist Date: Tue, 10 Jan 2017 17:06:28 -0500 Subject: [PATCH] Update README.md --- README.md | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 62e363e..cc8fec3 100644 --- a/README.md +++ b/README.md @@ -108,8 +108,10 @@ The configuration will be loaded from "Resources/Xbee_Config.xml". Most of the e ## Test two Xbee devices We consider the following setup (**Fig.1**). The block (Drone + Manifold) can be replaced by any Desktop/Laptop meeting the prerequisites. - -**Fig.1:** Experimental Setup. + +**Fig.1:** Experimental Setup: +![][fig1] +[fig1]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig1.png "Fig.1" One of the drones will behave as a Master while the other one will act as a Slave. The Master drone will send commands to the Slave drone. Each drone is running a dummy flight controller node "test_controller". According to the drone type Master/Slave, the "test_controller" node will respectively send or receive and display a command. The commands in the Master drone will be introduced with the keyboard. When a command is received in the Slave drone, it will be printed on the screen. The following table (**Table.2**) depicts the keys of each command: @@ -126,7 +128,9 @@ Each drone is running a dummy flight controller node "test_controller". Accordin | 23 | Start Mission | -**Fig.2:** ROS nodes running on the drone. +**Fig.2:** ROS nodes running on the drone: +![][fig2] +[fig2]: https://github.com/MISTLab/XbeeMav/tree/master/Resources/Fig1.png "Fig.2" The communication between both drones is performed with Xbees. The “xbee_mav” node (**Fig.2**) will handle all communications with other ROS nodes (test_controller(Flight Controller) or test_buzz (ROS Buzz)) and the connected Xbee device. Therefore, both Xbees must be configured for Digi-Mesh with the maximum baud rate (230400). We recognize two modes of communications: