Pilot software (running on companion computers) for the flight controller autopilot's. It can control and fly several flight controllers, including Pixhawk's, APM's and MultiWii's.

• mw-joystick.py -> Send joystick commands via UDP from a ground-station running Matlab to a FC running MultiWii software.

• mw-hover-controller.py -> Calculate commands to make a Multiwii multicopter hover over a specified x,y,z coordinate.

• pix-joystick.py -> Send joystick commands via UDP from a ground-station running Matlab to a pixhawk. Dronekit related.

• pix-logdata.py -> Script that logs data from a vehicle and a MoCap system. Dronekit related.

• pix-takeoff.py -> Script that makes a pixhawk take off in the most secure way. Dronekit related.

• pix-goto.py -> Script that commands the vehicle to follow waypoints.

• pix-velocity-vector.py -> Script that send the vehicle a velocity vector to form a square and diamond shape.

• Multiwii boards (using MSP)

• Pixhawk / PX4 / APM (using mavlink & drone kit)

• Raspberry Pi

• oDroid U3

Note: Code is in python, so, any linux computer would be able tu run it.

• Raspberry Pi (Rasbian)

1. Update your Pi...

2. Next this one:

3. More utilities:

4. Then mavlink and mavproxy:

5. Clone this repository:

#### DroneAPI

You have to load the module inside mavproxy.py, to do that just type:

module load droneapi.module.api

Now you're ready to run .py files with droneapi/dronekit!

#### Simulation

If you're doing tests with simulation, don't forget to turn off the parameter checking inside the mavproxy console, so that you can arm the vehicle:

param set ARMING_CHECK 0

All set!! go do tests!!

This code is still under heavy development, everyday I add and remove stuff. Proceed with caution.

You can follow us in this URL's:

• Aldux.net
• Aldux.net Facebook

For the 'pix-' scripts the following assumptions must be noted:

• This script assumes that the pixhawk is connected to the raspberry pi via the serial port (/dev/ttyAMA0)
• In our setup, telemetry port 2 is configured at 115200 on the pixhawk
• rpi camera connected (for computer vision)

/etc/ssh/ssh_config

ServerAliveInterval 5
ClientAliveInterval 5

/etc/network/interfaces

auto lo
iface lo inet loopback
iface eth0 inet dhcp
 
auto wlan0
iface wlan0 inet static
  address 192.168.1.1
  netmask 255.255.255.0
  wireless-channel 1
  wireless-essid RPiAdHocNetwork
  wireless-mode ad-hoc

sudo ifdown wlan0
sudo ifup wlan0

sudo apt-get install dhcp3-server
/etc/dhcp/dhcpd.conf

ddns-update-style interim;
default-lease-time 600;
max-lease-time 7200;
authoritative;
log-facility local7;
subnet 192.168.1.0 netmask 255.255.255.0 {
  range 192.168.1.5 192.168.1.150;
}

In case of failure starting DHCP:

sudo service ifplugd stop

sudo modprobe -v bcm2835-v4l2
git clone https://github.com/mpromonet/h264_v4l2_rtspserver.git
cd h264_v4l2_rtspserver
cmake .
make install
h264_v4l2_rtspserver -H <height> -W <width> -F <fps>

To start:

rtsp://192.168.1.1:8554/unicast

#!/bin/bash

echo "Deleting previous directory..."
rm -rf DronePilot/
echo "Done."
echo "Cloning DronePilot repository: "
git clone https://github.com/alduxvm/DronePilot.git
echo "Copying mavinit.scr to proper directory..."
mkdir DronePilot/TestQuad
mv DronePilot/mavinit.scr DronePilot/TestQuad/
echo "Done."
echo "Ready to do: mavproxy.py --master=/dev/ttyAMA0 --baudrate 115200 --aircraft TestQuad"
echo "Dont forget to go inside the DronePilot directory."

• Same DHCP configuration as before

• Install "hostapd"

sudo apt-get install hostapd netcat-traditional

• Interfaces:

auto wlan0
iface wlan0 inet static
  address 85.85.85.1
  netmask 255.255.255.0

• /etc/hostapd/hostapd.conf

interface=wlan0
ssid=HDFPV
hw_mode=g
channel=6
auth_algs=1
wmm_enabled=0

• /etc/default/hostapd

DAEMON_CONF="/etc/hostapd/hostapd.conf"

• On rpi, create fifo file:

mkfifo fifo.500 

• On client (mac):

brew install netcat
brew install mplayer

• To start (mac):

netcat -l -p 5000 | mplayer -fps 60 -cache 1024 -

• To start (rpi):

cat fifo.500 | nc.traditional 85.85.85.6 5000 &
/opt/vc/bin/raspivid -o fifo.500 -t 0 -b 50000