quadrotor-IITKgp/onboardScripts

Name: onboardScripts

Owner: Aerial Robotics Kharagpur

Description: Scripts for Odroid onboard drones in ARK

Created: 2016-03-20 17:25:52.0

Updated: 2017-04-03 15:38:29.0

Pushed: 2017-04-15 13:09:22.0

Homepage: null

Size: 512

Language: Python

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README

Onboard Scripts

Basic script to be run on quad for semi-autonomous flight.

Setup

Run `bash env_setup.sh`

If you face some errors , open the file using text editor and type commands one by one in terminal.

Dependencies: mav-proxy, drone-kit, tower-web

Connect the servers

Once the environment is setup.

Run Simulator: `dronekit-sitl copter --home=22.33024,87.32371,584,353`

For running on simulator Mav Proxy: `mavproxy.py --master=tcp:127.0.0.1:5760 --out=udpout:127.0.0.1:14550 --out=udpout:127.0.0.1:14549`

For running on quad Mav Proxy: `mavproxy.py --master=/dev/serial/by-id/<id> --baudrate 115200 --out=udpout:127.0.0.1:14550 --out=udpout:127.0.0.1:14549`

To view quad on simulator `tower udpin:127.0.0.1:14550then open browser and open ``localhost::14550```

Going to a point

NOTE: Hardcoded GPS Points

Makes quad go to pre-defined set of GPS points and height. Once mavproxy is running

Run `python goToPointGPS.py --connect '127.0.0.1:14550'`

Drop test

Quad must be connected with a servo on arduino. Quad will rotate the servo once the point and specified height is reached.

Run `python GPSDrop.py --connect '127.0.0.1:14550'`

Quad Map Control

Quad will follow the GPS point given to it using the Quad Map android app. Once mavproxy is running

Run `python QuadMapGPS.py --connect '127.0.0.1:14550'` Then use to app to connect to the IP at specified port. ( 8000 by default )

Script has 2 modes of operation

• Mode A : Guides quad to single given point.
• Mode B : Makes Quad follow a set of GPS co-ordinates sent from app.

Script also sends current Quad location to the app using threads.