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:127.0.0.1:14550 then 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.