Bambi - User contributions [en]

Day 11

2018-08-14T16:42:31Z

Michael: /* LOG */

= LOG =
# Discovered that PX4 does not implement <code>SET_POSITION_TARGET_GLOBAL_INT</code> and mavros mess up converting from global setpoint to local one => Our approach is now:
#* <code>trajectory_generator</code> node now publish local setpoints in Trajectory message. This has been done referring all the points (UTM) to home position (UTM) (we have just needed to subtract easter and northen of the home position as our local reference system has the y axis pointing to north).
#* Send the obtained trajectory with <code>flight_controller</code> node publishing on mavros <code>setpoint_raw/local</code> topic. The "raw" version has been chosen because it allows to send position, velocity and acceleration all in the same message. The mavros plugin then send <code>SET_POSITION_TARGET_LOCAL_NED</code> mavlink messages.
#* N.B Mavros itself handle the conversion from ENU (East North UP) to NED (North East Down) so the setpoint we send are in ENU coordinate system.
# <code>mc_pos_control_main.cpp:540</code> uses the paramter <code>MPC_ALT_MODE</code>, to forward the rangefinder senser velocity to the internal z_v state, to enable terrain following
# We need to ensure in FlightController, by subscribing the altitude topic and eventually doing some calculations, that the information in the setpoint, which INTERALLY we treat it as RELATIVE TO GROUND, in the trajectory with the list of setpoints, is CONVERTED IN TO A PX4 compatible ALTITUDE
#* Note altitude (from altitude topic) .relative means relative to home position (!)
#* TODO: Check if altitude.terrain gets meaningful values when mounting an onboard rangefinder sensor (it should)
# Found out that PX4 does not handle <code>MAV_FRAME_GLOBAL_TERRAIN_ALT</code> in <code>MISSIO_ITEM</code> command so we decided to use absolute altitude for the orthophoto waypoint adopting <code>MAV_FRAME_GLOBAL</code>.

Day 11

2018-08-14T16:26:00Z

Michael: /* LOG */

= LOG =
# Discovered that PX4 does not implement <code>SET_POSITION_TARGET_GLOBAL_INT</code> and mavros mess up converting from global setpoint to local one => Our approach is now:
#* <code>trajectory_generator</code> node now publish local setpoints in Trajectory message. This has been done referring all the points (UTM) to home position (UTM) (we have just needed to subtract easter and northen of the home position).
#* Send the obtained trajectory with <code>flight_controller</code> node publishing on mavros <code>setpoint_raw/local</code> topic. The "raw" version has been chosen because it allows to send position, velocity and acceleration all in the same message. The mavros plugin then send <code>SET_POSITION_TARGET_LOCAL_NED</code> mavlink messages.
#* N.B Mavros itself handle the conversion from ENU (East North UP) to NED (North East Down) so the setpoint we send are in ENU coordinate system.
# <code>mc_pos_control_main.cpp:540</code> uses the paramter <code>MPC_ALT_MODE</code>, to forward the rangefinder senser velocity to the internal z_v state, to enable terrain following
# We need to ensure in FlightController, by subscribing the altitude topic and eventually doing some calculations, that the information in the setpoint, which INTERALLY we treat it as RELATIVE TO GROUND, in the trajectory with the list of setpoints, is CONVERTED IN TO A PX4 compatible ALTITUDE
#* Note altitude (from altitude topic) .relative means relative to home position (!)
#* TODO: Check if altitude.terrain gets meaningful values when mounting an onboard rangefinder sensor (it should)
# Found out that PX4 does not handle <code>MAV_FRAME_GLOBAL_TERRAIN_ALT</code> in <code>MISSIO_ITEM</code> command so we decided to use absolute altitude for the orthophoto waypoint adopting <code>MAV_FRAME_GLOBAL</code>.

Day 11

2018-08-14T15:57:19Z

Michael:

= LOG =

# <code>mc_pos_control_main.cpp:540</code> uses the paramter <code>MPC_ALT_MODE</code>, to forward the rangefinder senser velocity to the internal z_v state, to enable terrain following
# We need to ensure in FlightController, by subscribing the altitude topic and eventually doing some calculations, that the information in the setpoint, which INTERALLY we treat it as RELATIVE TO GROUND, in the trajectory with the list of setpoints, is CONVERTED IN TO A PX4 compatible ALTITUDE
#* Note altitude (from altitude topic) .relative means relative to home position (!)
#* TODO: Check if altitude.terrain gets meaningful values when mounting an onboard rangefinder sensor (it should)
# Found out that PX4 does not handle <code>MAV_FRAME_GLOBAL_TERRAIN_ALT</code> in <code>MISSIO_ITEM</code> command so we decided to use absolute altitude for the orthophoto waypoint adopting <code>MAV_FRAME_GLOBAL</code>.

Day 8

2018-08-12T08:30:42Z

Michael:

#Reorganize px4-firmware repo:
#* Forked sitl-Gazebo and added as submodule, in order to create bambi world and models.
#Set up simulation to develop and test obstacle avoidance:
#*Add <code>iris_rplidar</code> model in bambi world. N.B to make the lidar works properly we had to change rayGPU plugin to the standard ray plugin which instead uses CPU. Moreove we notice strange outputs when the drone is in flight (random short distances,less then 35cm, outputs) so we increase the minimum detected distance to 40cm which is a bit more than the iris frame dimension.
#* Disabled down-facing lidar as suggested in https://github.com/PX4/Firmware/issues/9156 otherwise Gazebo crashes reporting segmentation fault.
#Added first '''non-working''' implementation of '''Repulsive Force Field Obstacle Avoidance''' in px4 <code>mc_pose_control_main.cpp</code>:
#*Subscribed to uORB topic <code>obstacle_distance</code> and injected obstacle repulsive thrust vector summing it with setpoint thrust computed by velocity controller. The resulting thrust is then sent to <code>mc_attitude_controller</code>.

Day 8

2018-08-12T08:24:15Z

Michael:

Day 8

2018-08-12T08:19:13Z

Michael: Created page with "#Reorganize px4-firmware repo: #* Forked sitl-Gazebo and added as submodule, in order to create bambi world and models. #Set up simulation to develop and test obstacle avoida..."

Bambi Wiki

2018-08-12T08:01:53Z

Michael: /* Project LOG */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* '''OBSOLETE''' Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]])
* LidarLite V3 (altitude distance sensor) ([https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf Datasheet])
*TFmini lidar ([https://cdn.sparkfun.com/assets/5/e/4/7/b/benewake-tfmini-datasheet.pdf Datasheet])

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Simulation with Gazebo + PX4 SITL + ROS]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Project LOG ==

Intensive project activity log:

# [[Day 1]]
# [[Day 2]]
# [[Day 3]]
# [[Day 4]]
# [[Day 5]]
# [[Day 6]]
# [[Day 7]]
# [[Day 8]]
See also [[Longterm TODOs]]

== Collection of related stuff that may be useful ==

* [https://dev.px4.io/en/ PX4 Development Guide and Architectural Overview]
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Bambi Wiki

2018-08-11T10:00:55Z

Michael: /* Collection of related stuff that may be useful */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* '''OBSOLETE''' Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]])
* LidarLite V3 (altitude distance sensor) ([https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf Datasheet])
*TFmini lidar ([https://cdn.sparkfun.com/assets/5/e/4/7/b/benewake-tfmini-datasheet.pdf Datasheet])

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Simulation with Gazebo + PX4 SITL + ROS]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Project LOG ==

Intensive project activity log:

# [[Day 1]]
# [[Day 2]]
# [[Day 3]]
# [[Day 4]]
# [[Day 5]]
# [[Day 6]]
# [[Day 7]]

See also [[Longterm TODOs]]

== Collection of related stuff that may be useful ==

* [https://dev.px4.io/en/ PX4 Development Guide and Architectural Overview]
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Bambi Wiki

2018-08-11T09:59:31Z

Michael: /* Project Bias Point */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* '''OBSOLETE''' Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]])
* LidarLite V3 (altitude distance sensor) ([https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf Datasheet])
*TFmini lidar ([https://cdn.sparkfun.com/assets/5/e/4/7/b/benewake-tfmini-datasheet.pdf Datasheet])

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Simulation with Gazebo + PX4 SITL + ROS]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Project LOG ==

Intensive project activity log:

# [[Day 1]]
# [[Day 2]]
# [[Day 3]]
# [[Day 4]]
# [[Day 5]]
# [[Day 6]]
# [[Day 7]]

See also [[Longterm TODOs]]

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Bambi Wiki

2018-08-11T09:59:17Z

Michael: /* Project Bias Point */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* '''OBSOLETE'''Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]])
* LidarLite V3 (altitude distance sensor) ([https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf Datasheet])
*TFmini lidar ([https://cdn.sparkfun.com/assets/5/e/4/7/b/benewake-tfmini-datasheet.pdf Datasheet])

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Simulation with Gazebo + PX4 SITL + ROS]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Project LOG ==

Intensive project activity log:

# [[Day 1]]
# [[Day 2]]
# [[Day 3]]
# [[Day 4]]
# [[Day 5]]
# [[Day 6]]
# [[Day 7]]

See also [[Longterm TODOs]]

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Day 7

2018-08-11T00:40:19Z

Michael: /* Log */

= Log =

# Use <code>geodesy</code> package for GSM84 --> UTM coordinate transformation
#* <code>sudo apt install ros-kinetic-geodesy</code> see [http://wiki.ros.org/geodesy http://wiki.ros.org/geodesy]
#* [https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system#UTM_zone UTM Coordinate frame] more or less squares of 180km
# Modified bambi gazebo world and model path. Now they are placed under <code>"bambi_ws"/gazebo</code>. REMEMBER to add the following in <code>.bashrc</code>:
#* <code>export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~%BAMBI-GIT-ROOT%/gazebo</code>
#* <code>export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~%BAMBI-GIT-ROOT%/gazebo/models</code>
# Successfully implemented WP navigation to orthophoto target position

= Coordinate Reference System =
In UTM (Northing, Easting, Down) reference system is positive toward north pole (toward map top) and toward east (toward the map right)

= Wave Front =

[[File:Wavefront-screenshot-2018-08-10.png|800px]]

Visualized on Google Maps it becomes:

[[File:First-generated-path.png|800px]]

Longterm TODOs

2018-08-10T16:43:32Z

Michael:

# Evaluate use of <code>boost::SharedPointer<T></code> in callback function for larger objects, such as <code>bambi_msgs::Trajectory</code>
# Refactor <code>coverage_path_planner</code> code

Day 7

2018-08-10T12:16:28Z

Michael: /* Log */

= Log =

# Use <code>geodesy</code> package for GSM84 --> UTM coordinate transformation
#* <code>sudo apt install ros-kinetic-geodesy</code> see [http://wiki.ros.org/geodesy http://wiki.ros.org/geodesy]
#* [https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system#UTM_zone UTM Coordinate frame] more or less squares of 180km
# Modified bambi gazebo world and model path. Now they are placed under <code>"bambi_ws"/gazebo</code>. REMEMBER to add the following in <code>.bashrc</code>:
#* <code>export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~%BAMBI-GIT-ROOT%/gazebo</code>
#* <code>export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~%BAMBI-GIT-ROOT%/gazebo/models</code>

= Coordinate Reference System =
In UTM (Northing, Easting, Down) reference system is positive toward north pole (toward map top) and toward east (toward the map right)

Day 7

2018-08-10T10:30:10Z

Michael: /* Log */

Day 5

2018-08-08T21:47:31Z

Michael: /* Bambi Package Design sketch */

= Log =
# Sketch the ROS node, topic and messages layout and start implementing node skeleton.
#<code>MAV_CMD_NAV_TAKEOFF_LOCAL</code> is not support in px4 (command 24), so we are forced to use the one without _LOCAL. For this reason we are force to send absolute altitude which turns out to be tricky: MAVlink uses WGS84 convention for altitude and latitude in global position messages (i.e <code>GPS_RAW_INT</code> the one used by mavros to gather information about current GPS fix) while it use AMSL convention for '''altitude'''. On the other hand, mavros global_position plugin, publish messages with altitude converted in WGS84 using the GeographicLib library (operation which requires 24 MB to be loaded on ram). In this way we would have to reconvert altitude back before adding the require offset to obtain the absolute altitude used in TAKEOFF mavlink message. '''We choose''' to modify mavros global_position plugin so that it does not convert altitude. Now we have an exact mapping between MAVLink and mavros global position messages and the problem of having different conventions no more occurs.

= KML Parser Library for Python =

To have some sample data easily available and customizable, it is convenient to use the .kml format. To be able to handle it in the python boundary border, we may use [https://pythonhosted.org/pykml/installation.html pyKml]. To install we need:

# <code>sudo apt-get install libxml2-dev libxslt-dev python-dev</code>
# <code>sudo pip install lxml</code>
# <code>sudo pip install pykml</code>

The KML file has been generated using [https://www.doogal.co.uk/polylines.php https://www.doogal.co.uk/polylines.php] and can be checked with [https://www.doogal.co.uk/KmlViewer.php https://www.doogal.co.uk/KmlViewer.php]

= Bambi Package Design sketch =
[[File:Node-graph-sketch.jpg|800px]]

Day 5

2018-08-08T21:47:16Z

Michael: /* Bambi Package Design sketch */

Day 5

2018-08-08T21:47:00Z

Michael: /* Bambi Package Design sketch */

Day 5

2018-08-08T21:45:35Z

Michael:

File:Node-graph-sketch.jpg

2018-08-08T21:45:23Z

Michael:

Day 5

2018-08-08T21:42:44Z

Michael: /* Log */

Day 5

2018-08-08T21:39:45Z

Michael: /* Log */

= Log =
# <code>MAV_CMD_NAV_TAKEOFF_LOCAL</code> is not support in px4 (command 24), so we are forced to use the one without _LOCAL. For this reason we are force to send absolute altitude which turns out to be tricky: MAVlink uses WGS84 convention for altitude and latitude in global position messages (i.e <code>GPS_RAW_INT</code> the one used by mavros to gather information about current GPS fix) while it use AMSL convention for '''altitude'''. On the other hand, mavros global_position plugin, publish messages with altitude converted in WGS84 using the GeographicLib library (operation which requires 24 MB to be loaded on ram). In this way we would have to reconvert altitude back before adding the require offset to obtain the absolute altitude used in TAKEOFF mavlink message. '''We choose''' to modify mavros global_position plugin so that it does not convert altitude. Now we have an exact mapping between MAVLink and mavros global position messages and the problem of having different conventions no more occurs.

= KML Parser Library for Python =

To have some sample data easily available and customizable, it is convenient to use the .kml format. To be able to handle it in the python boundary border, we may use [https://pythonhosted.org/pykml/installation.html pyKml]. To install we need:

# <code>sudo apt-get install libxml2-dev libxslt-dev python-dev</code>
# <code>sudo pip install lxml</code>
# <code>sudo pip install pykml</code>

The KML file has been generated using [https://www.doogal.co.uk/polylines.php https://www.doogal.co.uk/polylines.php] and can be checked with [https://www.doogal.co.uk/KmlViewer.php https://www.doogal.co.uk/KmlViewer.php]

Day 5

2018-08-08T21:39:31Z

Michael: /* Log */

= Log =
# <code>MAV_CMD_NAV_TAKEOFF_LOCAL</code> is not support in px4 (command 24), so we are forced to use the one without _LOCAL. For this reason we are force to send absolute altitude which turns out to be tricky: MAVlink uses WGS84 convention for altitude and latitude in global position messages (i.e <code>GPS_RAW_INT</code> the one used by mavros to gather information about current GPS fix) while it use AMSL convention for '''altitude'''. On the other hand, mavros global_position plugin, publish messages with altitude converted in WGS84 using the GeographicLib library (operation which requires 24 MB to be loaded on ram). In this way we would have to reconvert altitude back before adding the require offset to obtain the absolute altitude used in TAKEOFF mavlink message.
'''We choose''' to modify mavros global_position plugin so that it does not convert altitude. Now we have an exact mapping between MAVLink and mavros global position messages and the problem of having different conventions no more occurs.

= KML Parser Library for Python =

To have some sample data easily available and customizable, it is convenient to use the .kml format. To be able to handle it in the python boundary border, we may use [https://pythonhosted.org/pykml/installation.html pyKml]. To install we need:

# <code>sudo apt-get install libxml2-dev libxslt-dev python-dev</code>
# <code>sudo pip install lxml</code>
# <code>sudo pip install pykml</code>

The KML file has been generated using [https://www.doogal.co.uk/polylines.php https://www.doogal.co.uk/polylines.php] and can be checked with [https://www.doogal.co.uk/KmlViewer.php https://www.doogal.co.uk/KmlViewer.php]

Day 5

2018-08-08T21:36:22Z

Michael: /* Log */

= Log =
# <code>MAV_CMD_NAV_TAKEOFF_LOCAL</code> is not support in px4 (command 24), so we are forced to use the one without _LOCAL. For this reason we are force to send absolute altitude which turns out to be tricky:
MAVlink uses WGS84 convention for altitude and latitude in global position messages (i.e <code>GPS_RAW_INT</code> the one used by mavros to gather information about current GPS fix) while it use AMSL convention for '''altitude'''. On the other hand, mavros global_position plugin, publish messages with altitude converted in WGS84 using the GeographicLib library (operation which requires 24 MB to be loaded on ram). In this way we would have to reconvert altitude back before adding the require offset to obtain the absolute altitude used in TAKEOFF mavlink message.
'''We choose''' to modify mavros global_position plugin so that it does not convert altitude. Now we have an exact mapping between MAVLink and mavros global position messages and the problem of having different conventions no more occurs.

= KML Parser Library for Python =

To have some sample data easily available and customizable, it is convenient to use the .kml format. To be able to handle it in the python boundary border, we may use [https://pythonhosted.org/pykml/installation.html pyKml]. To install we need:

# <code>sudo apt-get install libxml2-dev libxslt-dev python-dev</code>
# <code>sudo pip install lxml</code>
# <code>sudo pip install pykml</code>

The KML file has been generated using [https://www.doogal.co.uk/polylines.php https://www.doogal.co.uk/polylines.php] and can be checked with [https://www.doogal.co.uk/KmlViewer.php https://www.doogal.co.uk/KmlViewer.php]

Day 4

2018-08-07T20:59:02Z

Michael:

# First implementation of <code>/missioncontroller</code> ROS node (it should publish a take off <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic)
# Find out that the starting position of PX4 simulation is hard-coded in <code>/Tools/sitl_gazebo/include/gazebo_gps_plugin.h</code>
#* Add this to your .bashrc:
#*#<code>export PX4_HOME_LAT=46.452895</code>
#*#<code>export PX4_HOME_LON=11.490920</code>
#*#<code>export PX4_HOME_ALT=1415</code>
# New repository config:
#* Created repository <code>mavlink-library-v2</code> as a fork in BambiSaver repo to use it as a submodule in PX4 Firmware
#** Updatet it with current mavlink msg header build output
#** N.B Every time .xml messsage definition is updated we should update the forked repository pushing the content of<code>bambi/build/mavlink/include/v2.0</code>. Then it is required to update submodules of <code>px4-firmware-bambi</code> to make sure it is up-to-date
#Push on bambi repo a primitive <code>missioncontroller</code> node which arm and lets the quad to take off. Up to now we use <code>/mavros/cmd/takeoff</code> service which only sends MAV_CMD_NAV_TAKEOFF forcing us to set an absolute ground altitude. It would be convenient to use a relative altitude using MAV_CMD_NAV_TAKEOFF_LOCAL message. This can be done using <code>/mavros/cmd/command</code> service which allow to send any <code>COMMAND_LONG</code> MAVlink messages.

Day 4

2018-08-07T14:08:05Z

Michael:

Day 4

2018-08-07T14:07:03Z

Michael:

Day 4

2018-08-07T13:53:51Z

Michael:

# First implementation of <code>/missioncontroller</code> ROS node (it should publish a <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic)
# Find out that the starting position of PX4 simulation is hard-coded in <code>/Tools/sitl_gazebo/include/gazebo_gps_plugin.h</code>

Day 4

2018-08-07T13:53:25Z

Michael: Created page with "# First implementation of <code>/missioncontroller</code> ROS node (it should publish a <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic) # Find o..."

# First implementation of <code>/missioncontroller</code> ROS node (it should publish a <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic)

# Find out that the starting position of PX4 simulation is hard-coded in <code>/Tools/sitl_gazebo/include/gazebo_gps_plugin.h</code>

Bambi Wiki

2018-08-07T13:45:13Z

Michael: /* Project LOG */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) OBSELETEX

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Simulation with Gazebo + PX4 SITL + ROS]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Project LOG ==

Intensive project activity log:

# [[Day 1]]
# [[Day 2]]
# [[Day 3]]
# [[Day 4]]

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Day 3

2018-08-06T07:08:53Z

Michael: Created page with "#[https://www.ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/ROS2017/how_to_setup_developer_pc.pdf Setup ROS development environment usi..."

#[https://www.ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/ROS2017/how_to_setup_developer_pc.pdf Setup ROS development environment using Eclipse Oxygen]

Bambi Wiki

2018-08-06T07:05:55Z

Michael: /* Project LOG */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) OBSELETEX

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Simulation with Gazebo + PX4 SITL + ROS]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Project LOG ==

Intensive project activity log:

# [[Day 1]]
# [[Day 2]]
# [[Day 3]]

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Simulation with Gazebo + PX4 SITL + ROS

2018-08-04T09:30:46Z

Michael: /* Useful Links */

First of all we have chosen ROS, because it is a quasi standard in robotics and provides a mature abstraction level and healthy environment (tutorials, documentation, etc) for our development needs. For ROS, the most widely used 3D simulator is Gazebo.

Because of the good integration of ROS with Gazebo, we needed flight stack that could support this choice. The PX4 flight-stack, especially concering the Software-In-The-Loop simulation seems to be better developed and documented than the one of ardupilot.

=Useful Links=
*[https://medium.com/@Dronesmith/why-we-chose-px4-vs-apm-as-lucis-default-firmware-ea39f4514bef Lucy developers choose PX4 against ArduPilot]
*[https://www.politesi.polimi.it/bitstream/10589/135202/3/2017_07_Cardamone.pdf PoliMI Thesis: general information about PX4 implementation of control loops; SITL Simulation]
*[https://dev.px4.io/en/simulation/ Official PX4 Simulation environment docu.]

Simulation with Gazebo + PX4 SITL + ROS

2018-08-04T09:28:16Z

Michael: /* Useful Links */

Simulation with Gazebo + PX4 SITL + ROS

2018-08-04T09:25:17Z

Michael:

Bambi Wiki

2018-08-04T09:13:29Z

Michael: /* Project Bias Point */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]
'

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) OBSELETEX

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Integration between Gazebo and PX4 SITL]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Bambi Wiki

2018-08-04T09:09:41Z

Michael: /* Simulation */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]
'

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk with Arducopter (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) OBSELETEX

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]
# [[2018-07-0x Meeting 2]]

== Simulation ==
#[[Integration between Gazebo and PX4 SITL]]

== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Benewake TFmini (Micro Lidar Module)

2018-02-06T19:45:38Z

Michael:

It comes preconfigured in binary output at 115200 Bauds and we can change the mode by issuing these commands through the Benewake console (http://benewake.com/en/down.html36) or using Realterm:
The command of standard output is 42 57 02 00 00 00 01 06
The command of pix format output is 42 57 02 00 00 00 04 06

See https://discuss.ardupilot.org/t/how-to-make-the-tfmini-rangefinder-talk-i2c/24403

= Datasheet =

<pdf>File:Benewake-tfmini-micro-lidar-module-ip65-12-m-datasheet.pdf</pdf>

Benewake TFmini (Micro Lidar Module)

2018-02-06T19:44:59Z

Michael:

It comes preconfigured in binary output at 115200 Bauds and we can change the mode by issuing these commands through the Benewake console (http://benewake.com/en/down.html36) or using Realterm:
The command of standard output is 42 57 02 00 00 00 01 06
The command of pix format output is 42 57 02 00 00 00 04 06

See [https://discuss.ardupilot.org/t/how-to-make-the-tfmini-rangefinder-talk-i2c/24403]

= Datasheet =

<pdf>File:Benewake-tfmini-micro-lidar-module-ip65-12-m-datasheet.pdf</pdf>

Benewake TFmini (Micro Lidar Module)

2018-02-06T19:41:06Z

Michael: Created page with "= Datasheet = <pdf>File:Benewake-tfmini-micro-lidar-module-ip65-12-m-datasheet.pdf</pdf>"

= Datasheet =

<pdf>File:Benewake-tfmini-micro-lidar-module-ip65-12-m-datasheet.pdf</pdf>

File:Benewake-tfmini-micro-lidar-module-ip65-12-m-datasheet.pdf

2018-02-06T19:40:27Z

Michael:

Obstacle Avoidance Flight Mode

2018-02-06T19:39:13Z

Michael: /* Hardware */

= Hardware =

[[Benewake TFmini (Micro Lidar Module)]]

Obstacle Avoidance Flight Mode

2018-02-06T19:38:45Z

Michael: Created page with "= Hardware = Benewake tfmini (micro lidar module)"

= Hardware =

[[Benewake tfmini (micro lidar module)]]

Bambi Wiki

2018-02-06T19:37:38Z

Michael: /* Project Bias Point */

Welcome to the documentation Wiki of Bambi

An introduction needs still to be made. Some links to youtube videos of similar projects:

* [https://www.youtube.com/watch?v=BMF9r2Ht-A4 Mulicopter + thermal camera]
* [https://www.youtube.com/watch?v=827RO-JvvpI Hegau Bodensee]
* [https://www.youtube.com/watch?v=OlKUXirQCpQ Südtirol]
* [https://www.youtube.com/watch?v=UJxRuLogFrE&t=214s Rheingau Taunus]
'

== Project Requirements ==

TODO

== Project Bias Point ==

The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:

# Hold a desired altitude
# Keep / fly to a desired GPS position
# Compensate external disturbances
# Provide ground communication for troubleshooting and development

To achieve this we use the following '''basic hardware''':

* Pixhawk with Arducopter (a featuring open source flight controller)
* NEO-M8n (GPS)
* 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
* Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
* Video RX 5.8gHz av output or otg (uvc)
* Sonar ([[WT81B003-0202 (Ultrasonic long distance sensor)]]) OBSELETEX

== Mimmo ==

Meetings:

# [[2017-07-04 Skype Call]]
# [[2017-11-15 Meeting 1]]

== Simulation ==
#[[Integration between Gazebo and Ardupilot SITL]]
== Project Milestones ==

# [[Georeferenced Orthophoto]]
# [[Image Processing]] (obtain the contour of the field)
# [[Automated Flight Route Planner]]
# [[Obstacle Avoidance Flight Mode]]
# [[Thermal Camera Processing]]
# [[Bambi Saving Workflow]] (e.g. mobile apps)

== Collection of related stuff that may be useful ==
* [https://lirias.kuleuven.be/bitstream/123456789/490846/1/VISAPP_15_DHU.pdf How to choose the best embedded processing platform]
* [https://dashcamtalk.com/forum/threads/xiaomi-yi-camera-gui-control-configure-from-pc-win-lin-mac.11206 Gui and py script to control YI Cam] (e.g. shoot trigger)
* [https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ how to configure PI cam on ubuntu]
* [https://link.springer.com/chapter/10.1007/978-3-319-50835-1_49 ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time]
* Reference: [https://cse.sc.edu/~jokane/teaching/374/uav.pdf Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)]

== Getting started with MediaWiki ==
* [[Help:Cheatsheet]]

Integration between Gazebo and Ardupilot SITL

2018-02-03T11:00:58Z

Michael: add image

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).
[[File:ArdupilotSITL-Gazebo.png]]

==Information about SITL models==
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.

File:ArdupilotSITL-Gazebo.png

2018-02-03T11:00:21Z

Michael: Scheme on how the integration between ardupilot SITL and Gazebo is made.

Scheme on how the integration between ardupilot SITL and Gazebo is made.

Integration between Gazebo and Ardupilot SITL

2018-02-02T16:37:00Z

Michael:

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).

==Information about SITL models==
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.

Integration between Gazebo and Ardupilot SITL

2018-02-02T16:35:41Z

Michael:

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).

-Information about SITL models:
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.

Integration between Gazebo and Ardupilot SITL

2018-02-02T16:35:27Z

Michael:

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).

//Information about SITL models:
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.

Integration between Gazebo and Ardupilot SITL

2018-02-02T16:35:15Z

Michael:

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).

Information about SITL models:
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.

Integration between Gazebo and Ardupilot SITL

2018-02-02T16:08:44Z

Michael: Preliminar simulation info

In order to interface the Software In The Loop simulation of ardupilot to Gazebo (3D simulator integrated in ROS desktop environment) a plugin is required: https://github.com/swiftgust/ardupilot_gazebo.
Additionally to the interface between the 3D simulation and the SITL this repo provides some useful models (that could be used as base for our specific vehicle model).

Mick discoveries:
When starting sim_vehicle.py the possible frame choices are listed and specified in the pysim/vehicleinfo.py script which tells to the ardupilot simulator the parameters to be loaded for that specific frame.