Overview

The repository named common contains cross subteam code used across multiple repositories.

Repository:

Software

Install packages: pip install -r requirements.txt

Add this repository as a submodule.

Install submodule packages: pip install -r [path to submodule]/requirements.txt

Use the modules under each subdirectory as a normal Python import.

Python serialization and deserialization for Autonomy.

Testing:

Attach a camera, then test the software:

cd camera
python -m test_camera

Every nth image is saved as image0.png , image1.png , etc. They can be deleted after the test.

Converts a list of waypoints to KML file for visualization (e.g. Google Earth, Google Maps).

Testing:

cd kml
pytest

Connection to drone using the MAVLink protocol. This module uses WGS 84 only.

Testing:

Start Mission Planner simulation with MAVLink forwarding: Mission Planner Simulated Ardupilot

Remember the home location.

Create a mission with a few waypoints and start the mission.

Run and make sure the home location matches:

python -m test_flight_controller

QR scanning and text output.

Testing:

Unit tests:

cd qr
pytest

Camera to QR integration:

Attach a camera and prepare a QR code to be shown, then test the software:

python -m camera_qr_example

The text output should be as expected.