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Can somebody help detangle all the pieces and help me understand how to setup my project? My partner & I have a self-built drone, controllable via a radio & connected to groundstation software on a laptop. It's running a RaspPi 4 and a Navio2 board.
My goal is to do local computation on the RaspPi (vision w/ a camera attached), and control the drone entirely locally. But I'd like to be able to override or otherwise control it from the ground. Ideally some groundstation software that can let me watch telemetry and location on a map and so on.
How do those components all fit together? Is there a guide or magic word I need to search on to show me how the data flow happens, and how to have autopilot local on the companion computer that can be overriden by a ground station?
import time
# Import mavutil
from pymavlink import mavutil
# Create the connection
master = mavutil.mavlink_connection('udpin:127.0.0.1:14550')
# Wait a heartbeat before sending commands
master.wait_heartbeat()
cnt = 1
# GPS_TYPE need to be MAV
while True:
time.sleep(0.2)
master.mav.gps_input_send(
0, # Timestamp (micros since boot or Unix epoch)
0, # ID of the GPS for multiple GPS inputs
# Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum).
# All other fields must be provided.
8 | 16 | 32,
0, # GPS time (milliseconds from start of GPS week)
0, # GPS week number
3, # 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
int(47.3977*1e7), # Latitude (WGS84), in degrees * 1E7
int(8.5456*1e7), # Longitude (WGS84), in degrees * 1E7
-200, # Altitude (AMSL, not WGS84), in m (positive for up)
1, # GPS HDOP horizontal dilution of position in m
1, # GPS VDOP vertical dilution of position in m
0, # GPS velocity in m/s in NORTH direction in earth-fixed NED frame
0, # GPS velocity in m/s in EAST direction in earth-fixed NED frame
0, # GPS velocity in m/s in DOWN direction in earth-fixed NED frame
0, # GPS speed accuracy in m/s
0, # GPS horizontal accuracy in m
0, # GPS vertical accuracy in m
7 # Number of satellites visible.
)
print("Data was send ",cnt)
cnt = cnt+1
import time
#Import mavutil
from pymavlink import mavutil
master = mavutil.mavlink_connection('udpin:127.0.0.1:14560')
#Why I need this?
master.wait_heartbeat()
# Get some information !
while True:
master.recv_msg()
try:
altitude = master.messages['GLOBAL_POSITION_INT'].lat # Note, you can access message fields as attributes!
timestamp = master.time_since('GLOBAL_POSITION_INT')
print(altitude)
except:
print('No GPS_RAW_INT message received')
time.sleep(0.05)
Hi, I’m trying to make a drone fly in mission mode with pixhawk controller, jetson tx2 module + j120 carrier board and realsense camera… but I am a complete beginner so forgive my shortage of information and poor English.
The real problem is that I want it to do big missions in which I am not involved. My desire is to send the drone the waypoint that I want it to go to before it takes off then it goes to that waypoint doing obstacle avoidance using px4/avoidance.
My current situation is as following…
I connected the pixhawk controllet to a pc and updated the firmware and callibarated default sensors (compass and etc.)
I inatalled px4/avoidance on a jetson tx2 with j120
My question are
Hello, my name is Bastiaan. i hope everyone is doing good and having a good christmas time.
I just started a week ago using a companion computer, so please forgive any ignorance.
Anyway, i'm having a problem with a module for mavproxy called nmea.py ( https://github.com/CanberraUAV/cuav/blob/master/cuav/modules/nmea.py ) and because i've read something about this module in this chatroom so i thought; i'll ask the people here if they could possibly help me.
So i added the python code for the module to mavproxy_nmea.py inside the modules directory and ran setup.py to add the module.
But when i try to load the nmea module i'm getting a syntax error.
Does someone here maybe have any thoughts to this? I'd really appreciate any help.
When i call for mavproxy.py --master=/dev/ttyACM0 --baudrate 115200 --load-module nmea --aircraft MyRover
it will throwERROR in command ['load', 'nmea']: invalid syntax (mavproxy_nmea.py, line 2) Traceback (most recent call last): File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 739, in process_stdin File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 551, in cmd_module File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 487, in load_module File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/EGG-INFO/scripts/mavproxy.py", line 641, in import_package File "/home/pi/.local/lib/python2.7/site-packages/MAVProxy-1.8.29-py2.7.egg/MAVProxy/modules/mavproxy_nmea.py", line 2 import math import os import serial import socket import subprocess import sys import time from MAVProxy.modules.lib import mp_module from ^ SyntaxError: invalid syntax