Desarrollando Drones

UAVS

Intro
Regulaciones
Componentes de un UAVs
Arquitecturas/Protocolos de comunicacion
Programacion
- Configuracion del entorno
- Librerias / SDKS / Apps
- Ejemplos

Agenda

Drones

Unmaned Aerial Vehicle

Un dron es un vehículo aéreo que vuela sin tripulación.

Pueden ser controlados via Software o volar de forma autonoma con sistemas embebidos y GPS.

Tienen aplicaciones militares, vigilancia, rescate, monitoreo de trafico, agricultura, incendios, investigacion, geografia.

Drones

Regulacion en Colombia Circular 002 del 2015 Aerocivil

Los drones que se pueden operar en Colombia son aquellos que pesen hasta 25Kg. La operación civil de drones de un peso mayor queda prohibida en Colombia.
La operación del dron únicamente podrá hacerse en horario diurno y en condiciones meteorológicas de vuelo visual.
Los drones no podrán volar sobre un área congestionada, edificaciones, público o aglomeración de personas, [....] Tampoco podrán volar desde un aeródromo o en sus proximidades dentro de un radio de 5Km.

Drones

Regulacion en Colombia Circular 002 del 2015 Aerocivil

La altura máxima a la que pueden volar es 152 metros y no podrán alejarse más de 750 metros del operador o del lugar de su lanzamiento o despegue.
Si el dron se va a utilizar en labores de fotografía, vídeo, telemetría, datos, sensores, scanner, etc. (sic), se requiere permiso de la Fuerza Aérea Colombiana.

Conceptos Basicos

Componentes

Controladora de Vuelo APM

ArduCopter – open source autopilot Stabilizes the drone
Navigates the drone (uses barometer, GPS and compass)

A battery monitoring unit allows for failsafe landings on low battery.

Power module measures voltage, current, and powers the APM at the odd voltage of 5.3V

Componentes

Controladora de Vuelo APM

Componentes

Controladora de Vuelo APM - API

Stabilize (manual control)
Alt(itude) hold (fixed Z)

Loiter aka stationkeep (keep fixed X,Y,Z)
Land (reduce Z until barometer detects descending rate <20cm/s and disarm)
Return to Launch (RTL) – first climb to a prespecified altitude (RTL_ALTITUDE), then return to the arming position (HOME)
Guided Mode (GOTO position)
Auto Mode: Execute a script including waypoints, ending in Land, RTL or Loiter.

Arquitecturas

Protocolos de comunicacion (software)

Arquitecturas

Protocolos de comunicacion (software)

Command line GCS
Also proxies and multiplexes commands to/from several GCSs (designed for GSC redundancy):
Each MAVLink from a GCS/App forwarded to Autopilot (master)
Each MAVLink from autopilot forwarded to GCS/App
Written in Python

Arquitecturas

Protocolos de comunicacion MAVLink

MAVLink is the only way to talk to the Autopilot.
MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles.

Authoritative source of information: http://qgroundcontrol.org/mavlink/start
Library support for C/C++/C#, Python, WLua, JavaScript
Two versions defined: v0.9 and v1.0. We use v1.0.

Arquitecturas

Protocolos de comunicacion MAVLink

Arquitecturas

Protocolos de comunicacion AR Drone 2/AT Commands

Arquitecturas

Protocolos de comunicacion AR Drone 2/AT Commands

The AR.Drone 2 AT command protocol is used to control the AR.Drone 2 over wifi

Arquitecturas

Protocolos de comunicacion AR Drone 2/AT Commands

The AT commands are encoded as 8-bit ASCII characters with a carriage return "<CR>" as a newline delimeter. All AT commands start with "AT*" followed by a command name, a equals sign, a sequence number(starting with 1, which also resets the sequence number), and optionally a list of comma-seperated arguments for the command.

Arquitecturas

Protocolos de comunicacion AR Drone 2/AT Commands

AT*REF (input) - Takeoff/Landing/Emergency stop command
AT*PCMD (flag, roll, pitch, gaz, yaw) - Move the drone
AT*PCMD_MAG (flag, roll, pitch, gaz, yaw, psi, psi accuracy) - Move the drone (With Absolute Control support)
AT*FTRIM - Sets the reference for the horizontal plane (The drone must be on the ground)
AT*CONFIG (key, value) - Configuration of the AR.Drone 2
AT*CONFIG_IDS (session, user, application ids) - Identifiers for AT*CONFIG commands
AT*COMWDG - Reset the communication watchdog
AT*CALIB (device number) - Aks the drone to calibrate the magneto meter (The drone must be flying)

Programacion

Configuracion del entorno APM

curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
sudo apt-get install -y nodejs

Instalar NodeJS

sudo apt-get install python-pip python-dev build-essential

Instalar Python y pip

Programacion

Configuracion del entorno APM

sudo apt-get install python-dev python-opencv python-wxgtk3.0
python-pip python-matplotlib python-pygame python-lxml

Instalar dependencias

pip install MAVProxy
pip install future
pip install pymavlink
pip install dronekit

Instalar protocolo y proxy Mavlink

Programacion

Configuracion del entorno AR

npm install ar-drone
npm install ardrone-autonomy

Instalar cliente para comandos AT con nodejs y librerias

Programacion

Ejemplos


vehicle = connect('/dev/ttyACM0', wait_ready=True)


vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
vehicle.simple_takeoff(aTargetAltitude) # Altitud en metros

Uso de Dronekit con python Mavlink

Programacion

Ejemplos

var autonomy = require('ardrone-autonomy');
var mission  = autonomy.createMission();

mission.takeoff()
       .zero()       
       .altitude(1)
       .forward(1)   
       .right(1)
       .left(1)     
       .backward(1)
       .hover(1000)  // for 1 second
       .land();

Uso de AR drone con Nodejs