mirror of
https://github.com/azaion/autopilot.git
synced 2026-04-22 08:56:34 +00:00
Oleksandr Bezdieniezhnykh
80 lines
3.0 KiB
Markdown
80 lines
3.0 KiB
Markdown
# 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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## Install necessary dependencies
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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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## Speed up the compilations
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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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## Clone source codes. You must add your SSH key before the cloning!
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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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## 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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## 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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sudo dpkg -i libmavsdk-dev_2.9.1_ubuntu22.04_amd64.deb
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## Install MAVSDK for embedded platforms
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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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### 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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### 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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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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## Build autopilot application
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cd src && cmake . && make
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## Launch similator in the ArduPilot directory
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./Tools/autotest/sim_vehicle.py --map --console -v ArduCopter
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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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