| Table of Contents |
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Overview
This document contains a summary of different tests the Pathing team has conducted, how to run the tests, and the results of each test.
Summary of Tests
Simulation
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Mission Planner Simulator
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Instructions on how to run
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Follow the steps to run the Mission Planner
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simulator which are explained in this document: https://uwarg-docs.atlassian.net/wiki/spaces/CV/pages/2240643073/Ardupilot+Simulation+with+Mission+Planner#MAVLink-Forwarding.
Note: On step 2 you will be running another application so proceed to step 3.
Once you
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finish step 3 in the document, you can run the
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pathing repository code with the command
python -m path_2023.Scan the QR code. TODO: Link the QR code image here.
The script should run successfully (The script should output “Done” to signify it has finished) and the waypoints should be loaded onto the simulator
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. The simulated drone will follow the route.
Testing Status
The code has been tested and the pathing repository works as expected.
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Realflight Simulator
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Instructions on how to run
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link documentation here.
Testing Status
The code has been tested and the pathing repository works as expected.
Pixhawk
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USB Communication
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Instructions on how to run
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Find a USB-C to USB-A cable
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Connect the USB-C end to the Pixhawk
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. There is a USB-C port on the side of the Pixhawk
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.
Connect the USB-A end to
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a USB
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port on the
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ground station computer.
Power the Pixhawk
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.
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Power the Raspberry Pi using a USB-C charger. The USB-C end will connect to the USB-C port on the Raspberry Pi.
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Open up Mission Planner and wait a minute to see if it the drone automatically connects.
Determine the name of the COM port the Pixhawk is connected to on the ground station computer.
Edit the
CONNECTION_ADDRESSconstant in themain_2023.pyto be"comX"where X is the COM port number.For example, if the Pixhawk is connected to COM port 6 then the
CONNECTION_ADDRESSwould be"com6". The documentation for this can be found here: https://dronekit-python.readthedocs.io/en/latest/guide/connecting_vehicle.html#get-started-connecting under the “Connection string options” header.
Run the pathing repository with the command
python -m
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main_2023.Scan the QR
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Code.
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The script
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should run successfully
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(The script should
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output “Done”
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to signify it has finished).
Remove the USB cable from the Pixhawk and place the UAV in position for takeoff.
Open Mission Planner and connect Mission Planner to the drone.
Press the “Plan” tab in the top left corner
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.
Click on the “Read” button on the right-hand side.
The waypoints from the script should appear on Mission Planner
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.
Testing Status
The code has been tested and the pathing repository works as expected.
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| title | USB Communication |
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LTE Communication
Instructions on how to run
Find a USB-C to USB-A cable
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.
Connect the USB-C end to the Pixhawk
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. There is a USB-C port on the side of the Pixhawk
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.
Connect the USB-A end to
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a USB
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port on the Raspberry Pi.
Power the Pixhawk
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Determine what COM port the Pixhawk is connected to.
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.
Power the Raspberry Pi using a USB-C charger that connects to the USB-C power port on the Raspberry Pi.
Open Mission Planner and wait for around a minute to see if the UAV connects automatically to the ground station computer.
If Mission Planner doesn’t connect after a minute, configure Mission Planner to connect to UDP port 14550 on the top right-hand corner and click connect.
Run the pathing repository with the command
python -m
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main_2023.
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Remove the USB cable from the drone and place it in position to takeoff.
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Open up Mission Planner and connect to the drone.
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Scan the QR code.
The script should run successfully (The script should output “Done” to signify it has finished).
Press the “Plan” tab in the top left corner
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.
Click on the “Read” button on the right-hand side.
The waypoints from the script should appear on Mission Planner
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.
Testing Status
The code has been tested and the pathing repository works as expected.
XBee’s Communication
Instructions on how to run
Testing Status
The code has not been tested yet.
RFD 900 Communication
Instructions on how to run
Testing Status
The code has not been tested yet.