``` $ sudo udevadm info -a /dev/ttyUSB0 Udevadm info starts with the device specified by the devpath and then walks up the chain of parent devices. It prints for every device found, all possible attributes in the udev rules key format. A rule to match, can be composed by the attributes of the device and the attributes from one single parent device. looking at device '/devices/3610000.xhci/usb1/1-4/1-4:1.0/ttyUSB0/tty/ttyUSB0': KERNEL=="ttyUSB0" SUBSYSTEM=="tty" DRIVER=="" looking at parent device '/devices/3610000.xhci/usb1/1-4/1-4:1.0/ttyUSB0': KERNELS=="ttyUSB0" SUBSYSTEMS=="usb-serial" DRIVERS=="ftdi_sio" ATTRS{latency_timer}=="1" ATTRS{port_number}=="0" looking at parent device '/devices/3610000.xhci/usb1/1-4/1-4:1.0': KERNELS=="1-4:1.0" SUBSYSTEMS=="usb" DRIVERS=="ftdi_sio" ATTRS{authorized}=="1" ATTRS{bAlternateSetting}==" 0" ATTRS{bInterfaceClass}=="ff" ATTRS{bInterfaceNumber}=="00" ATTRS{bInterfaceProtocol}=="ff" ATTRS{bInterfaceSubClass}=="ff" ATTRS{bNumEndpoints}=="02" ATTRS{interface}=="FT232R USB UART" ATTRS{supports_autosuspend}=="1" looking at parent device '/devices/3610000.xhci/usb1/1-4': KERNELS=="1-4" SUBSYSTEMS=="usb" DRIVERS=="usb" ATTRS{authorized}=="1" ATTRS{avoid_reset_quirk}=="0" ATTRS{bConfigurationValue}=="1" ATTRS{bDeviceClass}=="00" ATTRS{bDeviceProtocol}=="00" ATTRS{bDeviceSubClass}=="00" ATTRS{bMaxPacketSize0}=="8" ATTRS{bMaxPower}=="90mA" ATTRS{bNumConfigurations}=="1" ATTRS{bNumInterfaces}==" 1" ATTRS{bcdDevice}=="0600" ATTRS{bmAttributes}=="a0" ATTRS{busnum}=="1" ATTRS{configuration}=="" ATTRS{devnum}=="5" ATTRS{devpath}=="4" ATTRS{idProduct}=="6001" ATTRS{idVendor}=="0403" ATTRS{ltm_capable}=="no" ATTRS{manufacturer}=="FTDI" ATTRS{maxchild}=="0" ATTRS{product}=="FT232R USB UART" ATTRS{quirks}=="0x0" ATTRS{removable}=="unknown" ATTRS{serial}=="A907HR6F" ATTRS{speed}=="12" ATTRS{urbnum}=="24761" ATTRS{version}==" 2.00" looking at parent device '/devices/3610000.xhci/usb1': KERNELS=="usb1" SUBSYSTEMS=="usb" DRIVERS=="usb" ATTRS{authorized}=="1" ATTRS{authorized_default}=="1" ATTRS{avoid_reset_quirk}=="0" ATTRS{bConfigurationValue}=="1" ATTRS{bDeviceClass}=="09" ATTRS{bDeviceProtocol}=="01" ATTRS{bDeviceSubClass}=="00" ATTRS{bMaxPacketSize0}=="64" ATTRS{bMaxPower}=="0mA" ATTRS{bNumConfigurations}=="1" ATTRS{bNumInterfaces}==" 1" ATTRS{bcdDevice}=="0409" ATTRS{bmAttributes}=="e0" ATTRS{busnum}=="1" ATTRS{configuration}=="" ATTRS{devnum}=="1" ATTRS{devpath}=="0" ATTRS{idProduct}=="0002" ATTRS{idVendor}=="1d6b" ATTRS{interface_authorized_default}=="1" ATTRS{ltm_capable}=="no" ATTRS{manufacturer}=="Linux 4.9.108-tegra xhci-hcd" ATTRS{maxchild}=="4" ATTRS{product}=="xHCI Host Controller" ATTRS{quirks}=="0x0" ATTRS{removable}=="unknown" ATTRS{serial}=="3610000.xhci" ATTRS{speed}=="480" ATTRS{urbnum}=="73" ATTRS{version}==" 2.00" looking at parent device '/devices/3610000.xhci': KERNELS=="3610000.xhci" SUBSYSTEMS=="platform" DRIVERS=="tegra-xusb" ATTRS{driver_override}=="(null)" ATTRS{hsic_power}=="0" ```

1. Use following uart-usb cable to connect with sensor module:  2. configuration mode: `Device\Configuration\Acquisition`:  3. `Accumulation`: 256 4. `Oversmapling`: 8 5. `Measurement Rate`: 35.2Hz 6. Click the `green ✔` to apply the change.

1. Jetson TX2 Orbitty Carrier - pinout assignment: please check P.11 of [this datasheet](http://connecttech.com/pdf/CTIM-ASG003_Manual.pdf) - connection: please use UART1 `2,5,6,20`. Leadderone -> PC: 1->(GND, black)->20, 3->(5V,red)->2, 4->(Rx,orange, Tx)->5, 5->(Tx,yellow,Rx)->6 - create the symbolic link to `leddarone` by adding following to `/etc/udev/rules.d/99-aerial-robot-dev.rules`: ``` KERNEL=="ttyUSB*", SYMLINK+="leddarone" ``` 2. Intel upbaord - pinout assignment: please check [this datasheet](https://software.intel.com/en-us/articles/robotics-development-kit-blink-led-tutorial) and [this image](/jsk_aerial_robot/images/leddarone_upboard_connection.jpg) - create the symbolic link to `leddarone` by adding following to `/etc/udev/rules.d/99-aerial-robot-dev.rules`: ``` KERNEL=="ttyS4", SYMLINK+="leddarone" ``` **note**: two case for upboard: `/dev/ttyS1` or `/dev/ttyS4`. For new one, `/dev/ttyS4` is major:https://forum.up-community.org/discussion/3623/upboard-uart-error-initializing-uart

1. Use following uart-usb cable to connect with sensor module:  2. **note**: please click `send` to apply the change every time: 3. Rates: - Time Source: `1-GPS time` - Measurement Period: `100[ms]`(**important!**)  4. UBX-CFG(Config)-MSG(Messages) - Message: `01-07 NAV-PVT` UART1: check `☑`(i.e., 1) - Message: `01-06 NAV-SOL` UART1: uncheck `☑`(i.e., 0)  5. UBX-CFG(Config)-PRT(Ports) - Baudrate: `19200`  6. UBX-CFG(Config)-CFG(Configuration) - Check `Save current configuration` and Click `Send`