mirror of
https://github.com/azaion/autopilot.git
synced 2026-04-22 07:06:35 +00:00
Changed directory structure and renamed applications
- autopilot -> drone_controller - rtsp_ai_player -> ai_controller - added top level qmake project file - updated documentation - moved small demo applications from tmp/ to misc/
This commit is contained in:
Tuomas Järvinen
@@ -1,79 +1,169 @@
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# Azaion Autopilot
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A preliminary example of autonomous drone flight. This example is based on the MAVSDK framework and ArduPilot flight controller software. Running the example requires installing MAVSDK debian package and compiling ArduPilot. Example has been tested in Ubuntu 20.04 environment.
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# Azaion DroneController and AiController
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An autonomous drone controller with AI inference support. Programs uses MAVSDK framework and ArduPilot flight controller. Running the applications requires MAVSDK installation and compiling ArduPilot. Example has been tested in Ubuntu 22.04 and 24.04 environments.
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## Install necessary dependencies
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```bash
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sudo apt update
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sudo apt install ccache git build-essential qt5-qmake qtbase5-dev
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sudo apt install ccache git build-essential qmake6 qt6-base-dev
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```
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## Speed up the compilations
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```bash
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echo "export MAKEFLAGS=\"-j$(($(nproc)))\"" >> ~/.bashrc
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echo "export PATH=/usr/lib/ccache:\$PATH" >> ~/.bashrc
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```
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## Clone source codes. You must add your SSH key before the cloning!
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## Clone source codes. SSH key must be added before the cloning!
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```bash
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git clone git@github.com:azaion/autopilot.git
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git clone --recursive git@github.com:azaion/autopilot.git
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git submodule update --init --recursive
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```
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## Install MAVSDK for Ubuntu 20.04
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wget https://github.com/mavlink/MAVSDK/releases/download/v2.9.1/libmavsdk-dev_2.9.1_ubuntu20.04_amd64.deb
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sudo dpkg -i libmavsdk-dev_2.9.1_ubuntu20.04_amd64.deb
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```bash
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wget https://github.com/mavlink/MAVSDK/releases/download/v2.12.10/libmavsdk-dev_2.12.10_ubuntu20.04_amd64.deb
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sudo dpkg -i libmavsdk-dev_2.12.10_ubuntu20.04_amd64.deb
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```
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## Install MAVSDK for Ubuntu 22.04
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wget https://github.com/mavlink/MAVSDK/releases/download/v2.9.1/libmavsdk-dev_2.9.1_ubuntu22.04_amd64.deb
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```bash
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wget https://github.com/mavlink/MAVSDK/releases/download/v2.12.10/libmavsdk-dev_2.12.10_ubuntu22.04_amd64.deb
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sudo dpkg -i libmavsdk-dev_2.12.10_ubuntu22.04_amd64.deb
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```
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sudo dpkg -i libmavsdk-dev_2.9.1_ubuntu22.04_amd64.deb
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## Install ONNX Runtime for Ubuntu (not required for embedded platforms)
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## Install MAVSDK for embedded platforms
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### With GPU inference
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```bash
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wget https://github.com/microsoft/onnxruntime/releases/download/v1.18.0/onnxruntime-linux-x64-gpu-cuda12-1.18.0.tgz
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sudo tar xf onnxruntime-linux-x64-gpu-cuda12-1.18.0.tgz -C /opt/
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sudo ln -s /opt/onnxruntime-linux-x64-gpu-cuda12 /opt/onnxruntime-linux-x64-1.18.0
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```
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### Update cmake (need to build mavsdk)
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wget https://github.com/Kitware/CMake/releases/download/v3.29.3/cmake-3.29.3-linux-aarch64.sh
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sudo cp cmake-3.29.3-linux-aarch64.sh /opt
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sudo chmod +x /opt/cmake-3.29.3-linux-aarch64.sh
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cd /opt
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sudo bash cmake-3.29.3-linux-aarch64.sh
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sudo rm cmake ccmake cpack ctest cmake-gui
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sudo ln -s /opt/cmake-3.29.3-linux-aarch64/bin/* /usr/bin
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### With CPU inference
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```bash
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wget https://github.com/microsoft/onnxruntime/releases/download/v1.18.0/onnxruntime-linux-x64-1.18.0.tgz
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sudo tar xf onnxruntime-linux-x64-1.18.0.tgz -C /opt/
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```
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### Make sure gcc9 installed and is default (Need to build mavsdk. gcc -v to check)
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sudo add-apt-repository ppa:ubuntu-toolchain-r/test
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sudo apt update
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sudo apt install gcc-9 g++-9
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sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
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## Install MAVSDK for Ubuntu 22.04 or 24.04 PCs
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```bash
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wget https://github.com/mavlink/MAVSDK/releases/download/v2.12.10/libmavsdk-dev_2.12.10_ubuntu22.04_amd64.deb
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sudo dpkg -i libmavsdk-dev_2.12.10_ubuntu22.04_amd64.deb
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```
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### Build & Install from sources
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sudo apt-get update
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sudo apt-get install build-essential cmake git
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git clone https://github.com/mavlink/MAVSDK.git
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cd MAVSDK
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git checkout tags/v2.9.1
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git submodule update --init --recursive
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cmake -Bbuild/default -DCMAKE_BUILD_TYPE=Release -H.
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cmake --build build/default -j8
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sudo cmake --build build/default --target install
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### Resolving python problems
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In case of an error "The python version is too old, expecting 3, 6, 9" during Ardupilot run,
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install 3.6 python (most probably under alias python3) and
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just change 1 line in ardupilot/modules/waf/waf-light from ... python -> python3
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##Ardupilot
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## Build ArduPilot
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```bash
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git clone --recursive https://github.com/ArduPilot/ardupilot.git
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cd ardupilot
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./Tools/environment_install/install-prereqs-ubuntu.sh -y
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. ~/.profile
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./waf configure --board=sitl
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./waf build
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```
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## Build autopilot application
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cd src && cmake . && make
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## Build and install OpenCV 4.10.0
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```bash
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sudo apt update
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sudo apt install libgtk-3-dev libpng-dev cmake ffmpeg libavcodec-dev libavformat-dev libavfilter-dev
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wget https://github.com/opencv/opencv/archive/refs/tags/4.10.0.zip
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unzip 4.10.0.zip
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cd opencv-4.10.0
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mkdir build && cd build
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cmake -DCMAKE_INSTALL_PREFIX=/opt/opencv-4.10.0 -DBUILD_opencv_world=ON -DOPENCV_GENERATE_PKGCONFIG=ON -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF ..
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make -j8 && sudo make install
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```
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## Launch similator in the ArduPilot directory
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## Install MAVSDK for embedded platforms
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### Build and install MAVSDK from the sources if needed
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```bash
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sudo apt-get update
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sudo apt-get install build-essential cmake git
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git clone https://github.com/mavlink/MAVSDK.git
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cd MAVSDK
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git checkout tags/v2.12.10
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git submodule update --init --recursive
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cmake -Bbuild/default -DCMAKE_BUILD_TYPE=Release -H.
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cmake --build build/default -j8
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sudo cmake --build build/default --target install
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```
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## Build Azaion applications
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### PC builds (uses ONNX Runtime for the AI inference)
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```bash
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qmake6 && make
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```
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### OPI5 builds (uses gimbal camera and RKNN libraries for the AI inference)
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```bash
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qmake6 CONFIG+=opi5 CONFIG+=gimbal && make
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```
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## Run Azaion drone controller with ArduPilot simulator in Ubuntu PC
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### Launch similator in the ArduPilot directory
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```bash
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./Tools/autotest/sim_vehicle.py --map --console -v ArduCopter
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```
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## Launch example application in the new terminal window after waiting simulator (around 1 min) to be ready
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cmake . && make && ./autopilot mission.json
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### Launch example application in the new terminal window after waiting simulator (around 1 min) to be ready
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```bash
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./drone_controller/drone_controller ./drone_controller/mission.json quadcopter udp
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```
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## Run Azaion AI controller in Ubuntu PC
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### Install ffmpeg and mediamtx
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```bash
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sudo apt update
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sudo apt install ffmpeg
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wget https://github.com/bluenviron/mediamtx/releases/download/v1.8.4/mediamtx_v1.8.4_linux_amd64.tar.gz
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mkdir mediamtx
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tar xf mediamtx_v1.8.4_linux_amd64.tar.gz -C mediamtx
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```
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### Launch RTSP server if real camera is not used
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```bash
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cd mediamtx
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./mediamtx
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```
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### Playback of RTSP video stream when no real camera is used
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```bash
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ffmpeg -re -stream_loop -1 -i SOME_MP4_VIDEO_FILE -c copy -f rtsp rtsp://localhost:8554/live.stream
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```
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### Test RTSP stream with ffplay
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```bash
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ffplay -rtsp_transport tcp rtsp://localhost:8554/live.stream
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```
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### Compile and run AI controller without camera support
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Modify ./ai_controller/aiengineconfig.h and change IP address of RTSP source
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```bash
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qmake6 CONFIG+=opi5 && make && ./ai_controller/ai_controller [ONNX_MODEL_FILE]
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```
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### Compile and run AI controller with camera support
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Modify ./ai_controller/aiengineconfig.h and change IP address of RTSP source
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```bash
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qmake6 CONFIG+=opi5 CONFIG+=gimbal && make && ./ai_controller/ai_controller [ONNX_MODEL_FILE]
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```
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## Run Azaion AI controller in OPI5
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### Compile and run AI controller without gimbal camera support
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Modify ./ai_controller/aiengineconfig.h and change IP address of RTSP source
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```bash
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qmake6 CONFIG+=opi5 && make && ./ai_controller/ai_controller [RKNN_MODEL_FILE]
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```
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### Compile and run AI controller without gimbal camera support
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Modify ./ai_controller/aiengineconfig.h and change IP address of RTSP source
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```bash
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qmake6 CONFIG+=opi5 CONFIG+=gimbal && make && ./ai_controller/ai_controller [RKNN_MODEL_FILE]
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```
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