The firefly_blue has been flashed with a special firmware on the high level containing a Luenberger observer fusing incoming pose information with the onboard IMU. This allows firefly_blue to be controlled using the Vicon system.

The firefly_green is not currently available. NOW available

Operating the Asctec Firefly

Start here: http://wiki.asctec.de/display/AR/User+Manual

Frequenctly Asked Questions

Wifi keeps dropping out, what gives?

The firefly has an Intel 7260 Wifi adapter and there are a lot of complaints online about instability issues. Try adding to /etc/modprobe/iwlwifi.conf the following:

options iwlwifi 11n_disable=8

This should turn on link aggregation and has worked once in the past.

I'm connected to Wifi but I can't ping anything in the network

Check how you configured your network adapters. Clearpath sent us the Fireflys with a static IP on the (always on) ethernet adapter. This allows ROS to work even when not connected to a network. If this IP is on the same subnet as the Wifi adapter, all your packets will go through your unplugged ethernet.

To get around this see our networking page on dealing with multiple interfaces on the same subnet.