drone

Links of interest

Tired of using a password or token to push your commits ? Consider seting up an ssh key.

License

This software is licensed under MIT

Getting LSP support

Run colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON instead, then link the compile_commands.json inside the build folder to where your source file is.

FOR COMP!!! (Do this in this order)

Disclaimer

I have not tested the code on the actual system, please try it before comp day.

On the ground computer (pre-mission)

This will start a node that captures images sent by the drone and save them under ~/mapping/images on the ground computer Run start_ground_node.sh

On the drone

This will start the node that publishes images on a topic. Run start_drone_node.sh

Troubleshooting

The drone's ip address may not be the one I thought it would be, thus leading to the connection never being established. The 2 nodes that are used during the mission are under drone/drone_ws/src/camera/camera/ so take a look at those

QGroundControl

This will make a .plan file to be uploaded in QGroundControl.

1. Figure out which runway you're on, either 1 or 2.
2. Modify mission_setup_script/comp_mutables.json to put in the appropriate lap waypoints.
3. Run python3 mission_setup_script/mission_generator.py <runway_number>, where runway number is either 1 or 2.
4. In QGroundControl upload the .plan file generated (will be under mission_setup_script)
5. Verify that all is in place, add waypoints if any trajectories between waypoints lie outside the mission boundary!!!
6. For all survey items (last 2 items at the time of writting), move the angle slider to generate the waypoints, also tinker with the other parameters if need be.
7. Add takeoff and landing commands if need be.
8. Fix things that seem odd, may wanna move cruise speed and such

On the ground computer (post-mission)

Supposedly, all images taken during the mission are now in ~/mapping/images/ Run sudo docker run -ti --rm -v ~/mapping:/datasets/code opendronemap/odm --project-path /datasets This will stitch images together and generate some other folders under ~/mapping/ (I think it's a file ending in .tiff but I am not sure)