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1. Make the following hardware connections from the Raspberry Pi:

   1. Connect to LiDAR via USB-A to Micro-USB.

   2. Connect to Pixhawk Telem 2 port using FTDI cable.

      

   3. Connect to power source.

2. SSH into Raspberry Pi.

   1. Refer to Raspberry Pi 5

3. Enter the obstacle avoidance repository cd WARG/obstacle-avoidance/.

4. Activate the virtual environment source venv/bin/activate.

5. Ensure requirements are installed and submodules are initialized.

6. Run the flight controller test and check for odometry output.

   1. cd modules/common/

   2. python -m mavlink.test_flight_controller

   3. If odometry is outputted, exit the program, otherwise check Pixhawk connection.

7. Run the main script.

   1. Go back to the obstacle-avoidance directory.

   2. Run python -m main.

8. Start an AUTO mission.

How it works:

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Module Descriptions:

Detection: configuring LiDAR settings and fetching LiDAR readings.

Clustering: grouping LiDAR scans in close proximity into clusters.

Classification: assessing each cluster and assigning them a type of obstacle.

Flight Interface: sending and receiving messages from the drone.

Data Merge: combining obstacles and odometry into a data structure.

Decision: applying obstacle avoidance algorithm and sending a command.

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