Drone Software Development
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Introduction
Software Development Environment
Drone Solution Architect
Dronecode Project
Virtual Drone Solution
Computer Vision
Hybrid Drone Solution
Autonomous Drone Solution
Uses Cases
Use Cases
Options
Steps
- Execution Environment
- Docker
- Ubuntu
- sudo docker run -it xe1gyq/xardupilot "2" "20.6546009" "-103.3915602" "30"
- 172.17.0.2:5762
- python Telemetry.py --connect=tcp:172.17.0.2:5763
- Virtual Machine
- bash Ardupilot.sh
- 172.24.4.3:5762
- python Telemetry.py --connect=tcp:172.24.4.3:5763
- 10.0.0.6 Floating IPs: 172.24.4.3
- Autopilot
- DroneKit SITL
- MavProxy
- Ardupilot SITL
- export PATH=$PATH:$HOME/ardupilot/Tools/autotest
- export PATH=/usr/lib/ccache:$PATH
- sim_vehicle.py -v ArduCopter -l 20.6546009,-103.3915602,30,0
- ToDo
- Add Ardupilot Start Point
- Implementation Details Each UAV
- Vehicle ID
- PX4 SYSID_THISMAV
- Ardupilot MAV_SYS_ID
- Obtain, Assign, Modify, Report Back
- param show SYSID_THISMAV
- param set SYSID_THISMAV 2
- Ports
- Internals 14550 14551
- Assign
- Map
- MapMoveDemo
- Missions
- GoTo.py
- python GoTo.py --connect="127.0.0.1:14551" --lat=20.6546009 --long=-103.3915602 --alt=10
- Telemetry.py
- python Telemetry.py --connect="127.0.0.1:14551" --id=2
- Network
- Arguments
- FROM ubuntu
- ARG CONT_IMG_VER
- ENV CONT_IMG_VER v1.0.0
- RUN echo $CONT_IMG_VER
- docker build --build-arg CONT_IMG_VER=v2.0.1 .
- Volume
- sudo docker cp b91d2d9c892b:/home/user/ardupilot ardupilot
- Webpage
- TomCat Alpine
Demo
Containers should do one thing and do that well.
- Setup
- cd Bitol/VirtualDroneSolution/UseCases/XunanKab/Ardupilot
- sudo docker build -t xe1gyq/ardupilot .
- sudo docker ps -a
- sudo docker commit -m "Ardupilot" -a "Abraham Arce" c398fc22eeba xe1gyq/ardupilot
- Unnmaned Aerial vehicle
- ip addr
- run
- sudo docker run -it xe1gyq/xardupilot "2" "20.6546009" "-103.3915602" "30"
- sudo docker run -it -v ardupilot:/home/user/ardupilot xe1gyq/ardupilot bash
- 172.17.0.2/16
- export PATH=$PATH:$HOME/ardupilot/Tools/autotest
- export PATH=/usr/lib/ccache:$PATH
- sim_vehicle.py -v ArduCopter -l 20.6546009,-103.3915602,30,0
- 172.17.0.3/16
- export PATH=$PATH:$HOME/ardupilot/Tools/autotest
- export PATH=/usr/lib/ccache:$PATH
- sim_vehicle.py -v ArduCopter -l 20.6546009,-103.3915602,30,0
- sudo docker run -it -p 14550:15001 -p 14551:16001 -v ardupilot:/home/user/ardupilot xe1gyq/ardupilot bash
- Ground Control Station
- ./QGroundControl.AppImage
- 172.17.0.2:5762
- Developer API
- python Telemetry.py --connect=tcp:172.17.0.2:5763
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sudo docker run -it xe1gyq/xardupilot "2" "20.6546009" "-103.3915602" "5"
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sudo docker run -it xe1gyq/xardupilot "3" "20.6546030" "-103.3915603" "10"
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sudo docker run -it xe1gyq/xardupilot "4" "20.6546009" "-103.3915602" "10"
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python Telemetry.py --connect=tcp:172.17.0.2:5763
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python GoTo.py --connect=tcp:172.17.0.2:5763 --lat=20.6595009 --long=-103.3964602 --alt=5
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python Triangle.py --connect=tcp:172.17.0.2:5763
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python Square.py --connect=tcp:172.17.0.2:5763
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One
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab/One$ sudo apt install npm
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab/One$ npm install csv-parse/home/user/Bitol/VirtualDroneSolution/UseCases/XunanKab/One
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npm WARN enoent ENOENT: no such file or directory, open '/home/user/Bitol/VirtualDroneSolution/UseCases/XunanKab/One/package.json'
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npm WARN One No description
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npm WARN One No repository field.
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npm WARN One No README data
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npm WARN One No license field.
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab/One$
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[email protected]:~$ cd Bitol/VirtualDroneSolution/UseCases/XunanKab
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ ls
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Dockerfile
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ sudo docker build -t xe1gyq/xunankab .
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ sudo docker images
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REPOSITORY TAG IMAGE ID CREATED SIZE
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xe1gyq/xunankab latest 3f38626133a0 2 minutes ago 692MB
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ubuntu 16.04 f975c5035748 3 weeks ago 112MB
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$
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[email protected]:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ sudo docker run -it xe1gyq/xunankab bash
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^[email protected]:~$ ip addr
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1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
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link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
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inet 127.0.0.1/8 scope host lo
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valid_lft forever preferred_lft forever
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130: [email protected]: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default
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link/ether 02:42:ac:11:00:02 brd ff:ff:ff:ff:ff:ff link-netnsid 0
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inet 172.17.0.2/16 brd 172.17.255.255 scope global eth0
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valid_lft forever preferred_lft forever
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[email protected]:~$ dronekit-sitl --list
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solo-1.2.0
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solo-2.0.18
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solo-2.0.20
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plane-3.3.0
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copter-3.3
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rover-2.50
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[email protected]:~$ dronekit-sitl copter --home=20.654544,-103.3930971,30,0 --instance 0
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os: linux, apm: copter, release: stable
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Downloading SITL from http://dronekit-assets.s3.amazonaws.com/sitl/copter/sitl-linux-copter-3.3.tar.gz
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Download Complete.
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Payload Extracted.
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Ready to boot.
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Execute: /home/user/.dronekit/sitl/copter-3.3/apm --home=20.654544,-103.3930971,30,0 --instance 0 --model=quad
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Started model quad at 20.654544,-103.3930971,30,0 at speed 1.0
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bind port 5760 for 0
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Starting sketch 'ArduCopter'
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Serial port 0 on TCP port 5760
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Starting SITL input
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Waiting for connection ....
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DJI Tello
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[email protected]:~/TelloPy$ git clone https://github.com/hanyazou/TelloPy
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[email protected]:~/TelloPy$ sudo sudo apt-get install -y libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev
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[email protected]:~/TelloPy$ sudo pip install av
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Last modified 4yr ago