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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

 Mission Planner Simulator

Steps to run:

  • Follow the steps to run the Mission Planner here Ardupilot Simulation with Mission Planner.

    • Note on step 2 you will be running another application so proceed to step 3.

  • Once you press the Connect button you can run the Pathing repository with the command python -m path_2023.

  • Scan the QR code.

  • The waypoints should be loaded onto the simulator and the simulated drone will follow the route.

The code has been tested and works as expected.

 Realflight Simulator

Steps to run:

The code has been tested and works as expected.

Pixhawk

 LTE Communication

Steps to run:

  • With a USB-C to USB-A cable, connect the USB-C end to the Pixhawk (there is a USB-C port on the side of the Pixhawk) and the USB-A end to one of the USB ports on the Raspberry Pi.

  • Power the Pixhawk with a battery.

  • Power the Raspberry Pi using a USB-C charger. The USB-C end will connect to the USB-C port on the Raspberry Pi.

  • Open up Mission Planner and wait a minute to see if it the drone automatically connects.

  • If Mission Planner doesn’t connect, click the connect button on the top right hand corner.

  • Run the pathing repository with the command python -m path_2023.

  • Scan the QR code.

  • Ensure the script has successfully completed (should print “Done”) at the end.

  • Go to Mission Planner, press the Plan tab in the top left corner, and press the Read button on the right hand side.

  • Mission Planner should output the waypoints.

The code has been tested.

 USB Communication

  • With a USB-C to USB-A cable, connect the USB-C end to the Pixhawk (there is a USB-C port on the side of the Pixhawk) and the USB-A end to one of the USB ports on the Raspberry Pi.

  • Power the Pixhawk with a battery.

  • Determine what COM port the Pixhawk is connected to.

  • Edit the DroneKit script CONNECTION_ADDRESS to connect to the COM port. If the Pixhawk is connected to COM port 5, then edit the CONNECTION_ADDRESS to be com5 .

  • Run the pathing repository with the command python -m path_2023.

  • Remove the USB cable from the drone and place it in position to takeoff.

  • Open up Mission Planner and connect to the drone.

  • Go to Mission Planner, press the Plan tab in the top left corner, and press the Read button on the right hand side.

  • Mission Planner should output the waypoints.

The code has been tested and works as expected.

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