Drone Delivery and Mission Handling with Python

[@calebbergquist2066]

Dronekit's abstraction away from the flight code is so powerful! It seems equivalent to what Operating Systems did to computers! Where is the line though for dronekit's potential- has it be used to integrate new sensors to dynamically affect the drone's movement (obstacle avoidance, precision landing), essentially bypassing the need to modify the flight controller's source code (which can be lengthy and difficult to understand completely)? This just blows me away. Thanks again for sharing your knowledge.

[@MrJawwadzahed]

Well I was about to 'hard-code' all my way-points. I didn't know this was even possible. Great stuff... Thank you sir :)

[@prandtlmayer]

Jay , I am glad I was helpful, but please don't call me sir. You make me feel old.

[@maoharn]

@@prandtlmayer 😂

[@prandtlmayer]

Don't give up. When it comes to that is usually something easy that is hard to spot. I'll try and give you an answer soon

[@arpitsrivastava8431]

Tiziano Fiorenzani Well its good.But my one problem is not solved that what to do with raspberry pi and apm ,I want to use 3G dongal for far mission.Please help me what to do with raspberry pi and apm

[@prandtlmayer]

Open a terminal and open Python (just write python). You should now be in python 2.7 (check the version please). Then write help('module') and you should have all the modules currently installed. If you don't see dronekit, just uninstall it and try and reinstall

[@kaanucar22]

Can I just show to mission route on Mission Planner map? I have to show the mission route. Please, please help me?

[@miloudsefiani6340]

thanks our teacher, i want know why when i click in Write WPS Fast. i get an error " there was an expected error " when i see details of error i see " Timeout on read -setWPTotal ..."

[@prandtlmayer]

I haven't used that feature yet. You might want to check on the forum

[@enesyurt7864]

Hello Tiziano, I really like your works and I have a question, I want to create a system like: While my drone flying on a rectangle path, when it detects something with image processing I want to take its location, put a waypoint in there and I want to know when I reached that point in the next tour (to do some missions e.g opening servo and dropping a ball, etc.) How can I add a waypoint autonomously while proceeding with the mission Is there a way to do this? Thanks in advance.

[@erayilgazi4825]

Hello, your videos are very useful, but ı have a question. İ want to make a ground control station on the fixed wing, ı want to hybridize manually and autonomously. Is it possible to do this? What kind of resource do you have?

[@johntan6854]

hi sir, your video is very useful and interesting, but i have a question, i mean i have met a error when i click on writeWP after pointing the WP, which the error is ( there was an expected error " Timeout on read -setWPTotal " ) and something, may i know why and how to solve this issue? thanks in advanced and hope to receive your reply soon!

[@nadhmiamara6718]

hy Tiziano ! im trying to run the drone_delivery.py on server , is it possible to run the js code with your own access token and mapid ? everytime the map does'nt display! i need help please

[@rootready]

Nice useful video. Thank you for this! But, the most interesting, challenging, exciting task is INDOOR positioning and automation.. What's about this? Thank you.

[@prandtlmayer]

This is really an interesting subject and I am working on it

[@masoodabbasi2527]

Hi Tiziano , nice work. Would you tell me when current location is set as last way point and drone has reached that position then where the drone would go with return to home?

[@prandtlmayer]

RTL moves to the location the drone armed

[@sudharsansubramani1685]

Is it possible to create a python script to interface with the mission planner such that the python script input the coordinates and the mission planner plots the course?

[@prandtlmayer]

You can also import python scripts.in mission planner too. Check on the forum

[@aadilhusain1215]

When I'm adding the script through sudo python .py file it says no module named drone kit ... I checked and install it twice how I'm suppose to remove this error

[@prandtlmayer]

That is a problem when installing with sudo privileges. Uninstall drinking and install it from source again

[@franciscourena5636]

Great job Question Can you program the FPV plane to fly further than the range of the ground station and have the FPV plane to return to Its location via waypoints? For example, the ground station is 25 mile range, but the destination is 100 miles. Can you set up the FPV plane to travel fro. Point A to Point B to Point A 100 miles each way?

[@prandtlmayer]

Not legally

[@franciscourena5636]

@@prandtlmayer So it can be done! Let's say you have an automated flight path from point A to Point B but your ground station failed, can the FPV plane accomplish its mission A-B-A viewpoints using the GPS??

[@CodeBroRob]

how can i see camera output tho? would love to play with this and see what it sees as it flies around.

[@prandtlmayer]

Check this out: discuss.ardupilot.org/t/gsoc-2019-airsim-simulator-support-for-ardupilot-sitl/42890

[@nevzatbugrahanturk3809]

Is it possible to adding a new waypoint during the flight in AUTO mode?

[@prandtlmayer]

Adding a waypoint changes the mission, so you need to upload the new mission. Mind that the vehicle will keep going to the current old waypoint and will update to the new mission only when heading for the next one. What you could do is pause the mission by setting the vehicle in Guided, upload the new mission and then change mode to Mission again

[@pavniparghi8253]

if i am trying from the other terminal it shows that no heartbeat found

[@prandtlmayer]

Have you installed from source? Check connections and make sure the baudrate match

[@shahrukhansari1942]

It is working fine on SITL but not on real drone....cmds.wait_ready() is giving timeout error. Why dronekit script takes time to connect with drone while mission planner not?

[@prandtlmayer]

I've been using dronekit on my drones for 4 years. Check your connections, speed up the serial to 921600, change the sr2 for the parameters to 10Hz

[@shahrukhansari1942]

I'm not using any companion computer(like : Raspberry pi or any other) on my quadcopter .I am uploading the script directly on pixhawk via 433 hz telemetry module from the Ubuntu PC. Is that the reason it is taking time to upload the mission?

[@shahrukhansari1942]

I set serial_baud to 921600 and sr2_params to 10 hz but it didn't work.

[@prandtlmayer]

It doesn't work that way. Pixhawk runs on a microprocessor and you need to upload Ardupilot firmware. The python script runs on a companion or on the computer. I suggest you have a good reading of the documentation on the Ardupilot website

[@yusufyigitbas1125]

I wonder that how to code the script for changing flight modes by using transmitter, while the script is running.Is it possible to check the modes in loops or commands in auto mode?If it is not possible,Should i add multitasking threads?

[@prandtlmayer]

You can change the flight mode while the script is running with the ground station or the transmitter no problem. And you always know the flight mode in the script. I recommend you dedicate a switch on the tx to enable and disable the script as well

[@yusufyigitbas1125]

Thank you sir!

[@dronepilot1333]

I have Arducopter running on my tarot ironman and intend to make an experiment as a delivery drone. What firmware would you recommend? Ideally, it will deliver to a designated GPS location and return to launch once mission is completed.

[@prandtlmayer]

Arducopter has that implemented already. One of the mission item can be a delivery with a string also

[@dronepilot1333]

Tiziano Fiorenzani cool. I will check it out.

[@gozeenpinjar]

What should I do if I wanted to land the drone at the last way point and return it

[@prandtlmayer]

You can either program a landing in the mission or you can set the mode to landing. Consider that in Landing mode you won't be able to send commands to correct the position. You will need the RC or to override the first 4 channels

[@gozeenpinjar]

@@prandtlmayer I didn't get one thing, if the script runs on a pi and the pi is on the drone then how should I connect the pc in which mission planner runs cous that's how it should work right? And can I Connect the pi and pc over the internet? If yes then how?

[@ns3lover779]

Thank you sir ,what is the name of the simulator ?

[@noahorosw]

I'm having trouble starting dronekit sitl command not found . So I pip install dronekit-sitl , installs ! Try to start , and command not found ???

[@prandtlmayer]

Noah Wheeler which os?

[@noahorosw]

Windows 10 , and Ubuntu 17.10 for virtualbox

[@prandtlmayer]

That sounds like a problem with the path. Check your parh and verify dronekit has been installed in one of those folder

[@noahorosw]

Can you leave a description of the path ? /home/xyz/ardupilot/Tools/etc... ??? This must be where I'm making my mistake ?

[@noahorosw]

export PATH=$PATH:$HOME/ardupilot/Tools/autotest ???export PATH=/usr/lib/ccache:$PATH ??? Confused .

[@angelleal3005]

Could you do one tutorial on collision avoidance while running a mission ?

[@prandtlmayer]

Collision avoidance is pretty recent addition in Arducopter. Let me think of that

[@angelleal3005]

@@prandtlmayer Consider doing it. It's worth the time.

[@liamcummings6673]

Where can I download a copy of these scripts?

[@prandtlmayer]

there is a link to my github in the description

[@emrekaanozkan1705]

hi i m using dronekit on raspberry pi bu i want to use your autopilot script and mission planner same time but i cant it. How can ı can it ?

[@prandtlmayer]

You have two choices. Either you connect the pi to telemetry 2 and use telemetry 1 for a datalink or you run a proxy on the pi, either mavproxy or mavlunk-router to proxy the connection to both a TCp port to localhost and a udp port to your computer running mission planner (or broadcast)

[@emrekaanozkan1705]

Tiziano Fiorenzani ı m using uart raspi on tele2 port but tele1 not connect on udp how can ı solve this problem

[@prandtlmayer]

As I said, you can either connect a datalink to telem1 and use a ground datalink to mission planner or you set a mavproxy in the pi and proxy the connection to udp 14550, where you connect with mission planner

[@emrekaanozkan1705]

thanks:) but ı dont know what to add to the script

[@prandtlmayer]

I'm sorry Kaan, but I really don't understand what you're asking. Have you looked at any of my other videos? Maybe you can find you answer. Help me understand better

[@ser7ser7i]

Thank you.

[@joemama.556]

hi! I d like to ask you a few questions. Im currently briefing the construction of an fpv fixed wing platform. The issue is that i need to keep it as low cost as possible, but one of the main goals is implementing image tracking for the on board gimbal. The system would have a 2 or 3 axis self stabilized gimbal and connected to the servo inputs. The video feed would pass through a capture card an directly to the mission planner. My idea was writing some code that could talk to the servo inputs of the gimbal and follow a certain colour/shape. I'd trigger the code at a certain moment to lock on whichever color is on the center of the screen(video feed). Also this software is intended to run on some sort of windows 10 tablet. So not very high specs should be required. My question is: Is this achievable with python? Or would I need another type of code? Thanks a lot!

[@prandtlmayer]

You can use Python and dronekit. You can control the gimbal's angles, no problem.

[@joemama.556]

@@prandtlmayer thank you so much! I will be following all your videos, as I think they will be very helpful, great videos too👍👍

[@mayakano2183]

does this work for any drone?

[@prandtlmayer]

Running ardupilot

[@abdelz1617]

useful