# Azaion Autopilot
A preliminary example of autonomous drone flight. This example is based on the MAVSDK framework and PX4 flight controller software. Running the example requires compiling MAVSDK and PX4 on a Linux image system using cmake. Example has been tested in Ubuntu 20.04 environment.


TODO!! Add support for Docker builds. PX4 installs many dependencies.

## Install necessary dependencies
sudo apt update

sudo apt install ccache git build-essential curl cmake

## Speed up the compilations
echo "export MAKEFLAGS=\"-j$(($(nproc)))\"" >> ~/.bashrc

echo "export PATH=/usr/lib/ccache:\$PATH"  >> ~/.bashrc

## Clone source codes. You must add your SSH key before the cloning!
git clone --recursive git@github.com:azaion/autopilot.git

git submodule update --init --recursive

## Build and install PX4
cd 3rd/px4 && bash ./Tools/setup/ubuntu.sh && make px4_sitl jmavsim

## Install MAVSDK for Ubuntu 20.04
wget https://github.com/mavlink/MAVSDK/releases/download/v2.4.1/libmavsdk-dev_2.4.1_ubuntu20.04_amd64.deb

sudo dpkg -i ibmavsdk-dev_2.4.1_ubuntu20.04_amd64.deb

## Install MAVSDK for Ubuntu 22.04
wget https://github.com/mavlink/MAVSDK/releases/download/v2.4.1/libmavsdk-dev_2.4.1_ubuntu22.04_amd64.deb

sudo dpkg -i libmavsdk-dev_2.4.1_ubuntu22.04_amd64.deb

## Build example application
cd src && cmake . && make

## Launch similator
cd 3rd/px4

PX4_HOME_LAT=52.5314818 PX4_HOME_LON=13.3872884 ./build/px4_sitl_default/bin/px4

## Launch example application in the new terminal window
cd src

make && ./azaion mission.json