Skip to content

djnugent/Precland

Repository files navigation

Precland

Precision Land for ArduPilot

Preqs

  • Mavproxy
  • DroneKit

Setup

  • Navigate to your home directory:
    $ cd

  • Download my fork of ardupilot:
    $ git clone https://github.com/djnugent/ardupilot

  • Download precland:
    $ git clone https://github.com/djnugent/precland

  • Download the most recent version of pymavlink:
    $ git clone https://github.com/mavlink/mavlink

  • Uninstall any previous versions of pymavlink:
    $ sudo pip uninstall pymavlink

  • Navigate into pymavlink directory:
    $ cd /mavlink/pymavlink

  • Install pymavlink:
    $ sudo python install setup.py

  • Add sim_vehicle.sh and PrecisionLand to your path:
    $ sudo nano ~/.bashrc
    ADD THE FOLLOWING TO THE END OF THE FILE:
    export PATH=$PATH:$HOME/ardupilot/Tools/autotest
    export PYTHONPATH=$PYTHONPATH:$HOME/precland
    Use ctrl-x to exit and save the file

  • Re-run .bashrc / Reload PATH variables:
    $ . ~/.bashrc

  • Have Dronekit load on startup:
    $ echo "module load droneapi.module.api" >> ~/.mavinit.scr

  • Navigate to ardupilot/ArduCopter:
    $ cd /ardupilot/ArduCopter

  • Intialize SITL:
    $ sim_vehicle.sh -w

  • Disable prearm checks:
    $ param set ARMING_CHECK 0

  • Kill SITL:
    Press ctrl-c

Run Precision land with SITL:

  • Navigate to ardupilot/ArduCopter:
    $ cd /ardupilot/ArduCopter

  • Start SITL:
    $ sim_vehicle.sh --console --map

  • Arm vehicle:
    MAV> arm throttle

  • Switch to guided mode:
    MAV> mode guided

  • Takeoff:
    MAV> takeoff 20

  • Start PrecsionLand:
    MAV> api start /home/<your_username>/precland/PrecisionLand.py

  • Kill SITL:
    Press ctrl-c

See my progress

Related projects

About

Visual Navigation for ArduPilot

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published