precision-landing

This repository contains precision landing project for CUAV using Ardupilot. Click below for simulation tests:

Code Integration

- Hardware connection: https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html

- Change the following using Mission Planner
    SERIALx_PROTOCOL = 2 (the default - to enable MAVLink 2 on the serial port)
    SERIALx_BAUD = 921 (921600 baud)

- Install and flash ubuntu 20.04 image on a memory card and put inside RPi

- SSH into Raspberry Pi and connect camera to RPi and under /boot/config.txt, add start_x=1

- Run the following commands in RPi terminal to set up MAVProxy:

    sudo apt-get update
    sudo apt-get install python3-pip.
    sudo apt-get install libxml2-dev.
    sudo apt-get install libxslt-dev.
    pip install opencv-python opencv-contrib-python mavproxy pymavlink sockets numpy tf logging python-signal
    sudo apt-get update && sudo apt-get install ffmpeg libsm6 libxext6  -y 

• Run the following in terminal on RPi python3 mavproxy.py --master=<port> --baudrate 921600 --out <ip>:<port>
• After setting up code on companion computer and connectiong over Telem port to FCU, run cuav_landing.py.
• Make sure to setup the coordinates of the destination and correct camera parameters and Aruco parameters.