Visual Navigation for ArduPilot
- Mavproxy
- DroneKit
-
Navigate to your home directory:
$ cd -
Download my fork of ardupilot:
$ git clone https://github.com/djnugent/ardupilot -
Download visnav:
$ git clone https://github.com/djnugent/visnav -
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 to your path:
$ sudo nano ~/.bashrc
ADD THE FOLLOWING TO THE END OF THE FILE:
export PATH=$PATH:$HOME/ardupilot/Tools/autotest
Use ctrl-x to exit and save the file -
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
-
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>/visnav/PrecisionLand.py -
Kill SITL:
Press ctrl-c