MMMM          
 MMMMM        MM                  ll     i             k         
 MMM MM      MMM                   ll                  k    kk        @@@@@@@@     @@@@@@      @       @
 MMM  MM    MMMM                    l    i  n          k  k          @            @      @    @     @@
 MMM   MM  MM MM   aaaaa   v     v  l    i  nnnnnnn    kk           @            @       @   @   @@
 MMM    MMMM  MM        a  v     v  l    i  n      n   kk            @@@@@@     @       @   @ @  
 MMM          MM   aaaaaa  v     v  l    i  n      n   k kk                @   @       @   @@  @@ 
 MMM          MM  a     a   v   v   ll   i  n      n   k   kk             @   @      @    @      @@
              MM  aaaaaa      v      ll  i  n      n   k     kk   @@@@@@@@   @@@@@@@     @         @
 
                                                                                     by Vasily Yuryev
                                                                                                 2020
 ##          
 ##M          ##                  ##     #             #         
 ## #        ###                   L#                  #    ##        @@@@@@@@     @@@@@@      @       @
 ##  #      # ##                    #    I  #          #  #          @            @      @    @     @@
 M#   #    #  M#   #####   #     V  #    I  #######    #k           @            @       @   @   @@
 ##    #  #   ##        #  #     #  #    #  N      #   ##            @@@@@@     @       @   @@@  
 ##     M#    ##   ##A###  V     #  #    #  #      #   # ##                @   @       @   @   @@ 
 ##           #M  #     #   #   #   ##   #  #      #   #   ##             @   @      @    @      @@
              ##  #A####      #      #L  #  #      N   #     #k   @@@@@@@@   @@@@@@@     @         @
              
                                                                                     by Vasily Yuryev
                                                                                                 2020

MAVLINK SDK for indoor drones

Examples for mavlink_drone_sdk

Dependencies

Install dependencies

• Build and install mavlink-router
• OpenCV
• ZMQ

Submodules

git submodule update --init --recursive

Build dependencies

• mavlink_drone_sdk
• markers_lib

# this arch
./build_all.sh 1 1/0 #init or just build#
# Raspberry PI
./build_all.sh arm 1/0 #init or just build#

Build

# this arch
./build.sh 1 1/0 #init or just build#
# Raspberry PI
./build.sh arm 1/0 #init or just build#

Deploy

# For Raspberry PI
./deploy.sh

Description

udp/tcp_telemtry_test.cpp - connection and commands ( telemetry ) tests
udp_vpe_sender.cpp - send VPE data to autopilot
start_router.sh - start mavlink-router

Run

On Raspberry PI

./run_prog.sh #program name#

On Raspberry PI remotely

# Run on laptop
./run_on_raspi.sh #program name# 

Project repositories

• mavlink_drone_sdk - Mavlink Indoor SDK source
• markers_lib - Library for aruco navigation
• opencv_image_transfer - send image form c++
• led_uart_cpp - ws2812(arduino) control over uart
• led_uart_ws2812_arduino - ws2812(arduino) control over uart
• PX4 Firmware - version of px4 for Spurk
• ESP32 mqtt swarm control - ESP32 version of vas59/mavlink_drone_sdk
• Prebuilt for Raspberry PI - Opencv 4.1.0 and mavlink-router
• Camera calibration files

---

by Vasily Yuryev