auto-avoidance_with_M100

Date:2023/09/11 written by Yasufumi Yamada.
These are back up programs for auto-avoidance flight controller system on M100 with Raspberrypi 3B+.

The system Overview

These auto-avoidance navigation programs are worked with two Raspberrypi connected with wired LAN cable.
One is used for flight controller and the other is used for autonomous sensing.
Programs for Each Raspberry pi is separately packaged as “Flight_controller_Pi” and “auto_sensing_Pi”.

Preset (Flight_controller_Pi)

“Flight_controller_Pi”
Work with
・Raspberrypi 3B+
・UBUNTU MATE (OS)
・ROS Indigo. http://wiki.ros.org/indigo
・DJI Onboard SDK (OSDK) ver 3.7. https://github.com/dji-sdk/Onboard-SDK-ROS/tree/3.7

compile the program.

download the “Flight_controller_Pi” to your Rasp Pi
$ cd BatDrone
$ catkin_make

usage

$ roslaunch dji_sdk sdk.launch
$ rosrun dji_sdk_demo pypysocket_server_v081_prottype_ros.py
$ rosrun dji_sdk_demo drone_python.py
 

Preset (“auto_sensing_Pi”)

“auto_sensing_Pi”
Work with
・Raspberrypi 3B+
・Raspbian(OS, https://www.raspberrypi.com/software/operating-systems/)
・additional sensors with FPGA((XILINX, EDX-302B))

compile the program.

download the “auto_sensing_Pi” to your Rasp Pi
$ cd auto_sensing_Pi
$ make

usage

$ python pypysocket_host_real_v2_endress.py
$ python sensing_yy_C_based_LPM.py