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
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:$PATH
sim_vehicle.py -v ArduCopter -l 20.6546009,-103.3915602,30,0
sudo docker run -it -p 14550:15001 -p 14551:16001 -v ardupilot:/home/user/ardupilot xe1gyq/ardupilot bash
Ground Control Station
./QGroundControl.AppImage
172.17.0.2:5762
Developer API
python Telemetry.py --connect=tcp:172.17.0.2:5763
sudo docker run -it xe1gyq/xardupilot "2" "20.6546009" "-103.3915602" "5"
sudo docker run -it xe1gyq/xardupilot "3" "20.6546030" "-103.3915603" "10"
sudo docker run -it xe1gyq/xardupilot "4" "20.6546009" "-103.3915602" "10"
python Telemetry.py --connect=tcp:172.17.0.2:5763
python GoTo.py --connect=tcp:172.17.0.2:5763 --lat=20.6595009 --long=-103.3964602 --alt=5
python Triangle.py --connect=tcp:172.17.0.2:5763
python Square.py --connect=tcp:172.17.0.2:5763One
user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab/One$ sudo apt install npm
user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab/One$ npm install csv-parse/home/user/Bitol/VirtualDroneSolution/UseCases/XunanKab/One
└── csv-parse@2.1.0
npm WARN enoent ENOENT: no such file or directory, open '/home/user/Bitol/VirtualDroneSolution/UseCases/XunanKab/One/package.json'
npm WARN One No description
npm WARN One No repository field.
npm WARN One No README data
npm WARN One No license field.
user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab/One$user@workstation:~$ cd Bitol/VirtualDroneSolution/UseCases/XunanKab
user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ ls
Dockerfile
user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ sudo docker build -t xe1gyq/xunankab .user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ sudo docker images
REPOSITORY TAG IMAGE ID CREATED SIZE
xe1gyq/xunankab latest 3f38626133a0 2 minutes ago 692MB
ubuntu 16.04 f975c5035748 3 weeks ago 112MB
user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$user@workstation:~/Bitol/VirtualDroneSolution/UseCases/XunanKab$ sudo docker run -it xe1gyq/xunankab bash
user@6440be9e8eaa:~$^Cuser@6440be9e8eaa:~$ ip addr
1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000
link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
inet 127.0.0.1/8 scope host lo
valid_lft forever preferred_lft forever
130: eth0@if131: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default
link/ether 02:42:ac:11:00:02 brd ff:ff:ff:ff:ff:ff link-netnsid 0
inet 172.17.0.2/16 brd 172.17.255.255 scope global eth0
valid_lft forever preferred_lft forever
user@6440be9e8eaa:~$user@6440be9e8eaa:~$ dronekit-sitl --list
solo-1.2.0
solo-2.0.18
solo-2.0.20
plane-3.3.0
copter-3.3
rover-2.50
user@6440be9e8eaa:~$ dronekit-sitl copter --home=20.654544,-103.3930971,30,0 --instance 0
os: linux, apm: copter, release: stable
Downloading SITL from http://dronekit-assets.s3.amazonaws.com/sitl/copter/sitl-linux-copter-3.3.tar.gz
Download Complete.
Payload Extracted.
Ready to boot.
Execute: /home/user/.dronekit/sitl/copter-3.3/apm --home=20.654544,-103.3930971,30,0 --instance 0 --model=quad
Started model quad at 20.654544,-103.3930971,30,0 at speed 1.0
bind port 5760 for 0
Starting sketch 'ArduCopter'
Serial port 0 on TCP port 5760
Starting SITL input
Waiting for connection ....DJI Tello
user@workstation:~/TelloPy$ git clone https://github.com/hanyazou/TelloPy
user@workstation:~/TelloPy$ sudo sudo apt-get install -y libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev
user@workstation:~/TelloPy$ sudo pip install avhttps://mikeboers.github.io/PyAV/installation.html
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