04 Autonomous drone programming in Python

Introduction

Please check our online course (slides or videos) to understand:

• how to connect to the flight controller
• what's the general software architecture
• how to use yocto or ubuntu or the linux OS of choice in a container

Hello world in PyMAVLINK

Here's a simple python script using the basic pymavlink wrapper to arm the motors for 3 seconds. Arming the motors is the simplest action we can test to show everything is connected. Note: we're using tcp:127.0.0.1:5760 to connect to the flight controller, as we'll do for all the following examples.

UNPLUG THE PROPELLERS BEFORE RUNNING THIS CODE. WE INSIST.

#!/usr/bin/python
from __future__ import print_function

import pymavlink.mavutil as mavutil
import sys

mav = mavutil.mavlink_connection('tcp:127.0.0.1:5760')
mav.wait_heartbeat()
mav.mav.command_long_send(mav.target_system, mav.target_component,
                          mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 0, 1,
                          0, 0, 0, 0, 0, 0)
sleep(3)
mav.mav.command_long_send(mav.target_system, mav.target_component,
                          mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 0, 0,
                          0, 0, 0, 0, 0, 0)

Hello world in DroneKit

It’s important to know the basics of MAVLINK, as it the base of all communications with the Flight Controllers. But coding frames with python-mavlink is not developer friendly. DroneKit, developed by 3D Robotics, is one of the friendly python abstractions available under Apache v2 Licence : python.dronekit.io To install on Intel Aero:

pip install dronekit

UNPLUG THE PROPELLERS BEFORE RUNNING THIS CODE. WE INSIST.

Here's the code, still arming the motors for 5 seconds:

#!/usr/bin/python
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time

vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
print "Arming motors:"
vehicle.mode    = VehicleMode("GUIDED")
vehicle.armed   = True
while not vehicle.armed:
        print "  Waiting for arming to be finished"
        time.sleep(1)
print "Keeping motors armed for 5s"
time.sleep(5)
print "Disarming"
vehicle.armed   = False

Hello world in PyMAVProxy

On top of being a developer friendly layer on top of MAVLINK, MAVProxy was designed to bridge the gap between programming-only libraries like DroneKit and graphical-only tools like QGroundControl. Check: ardupilot.github.io/MAVProxy Some people use it on a remote computer to control the drone and have optional user interfaces to complex functions, but you an use on the drone itself for autonomous drone development. To install on Intel Aero:

pip install MAVProxy

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Launch the shell

mavproxy.py --master=tcp:127.0.0.1:5760 --quadcopter

And type a few commands to arm/disarm the motors:

arm throttle
disarm
bat

Networked drone in WebSockets

Please refer to the module D2 - Software - Networked Drone of the course for more information about the following codes.

UNPLUG THE PROPELLERS BEFORE RUNNING THIS CODE. WE INSIST.

The Python websocket API on Intel Aero:

pip install websocket-server

A WebSocket client in your browser, to simulate a web call:

Optionally, a Library on your development station to send the request from a script instead of your browser:

pip install websocket-client

And here's the server code running on Intel Aero:

from websocket_server import WebsocketServer
import re
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
vehicle.mode    = VehicleMode("GUIDED")
print("Flight Controller Connected")
def new_client(client, server):
        print("Client connected")
        server.send_message_to_all("Client connected")
def message_received(client, server, message):
	if len(message) > 200:
		message = message[:200]+'..'
	print("Arming motors")
	vehicle.armed   = True
	while not vehicle.armed:
		time.sleep(1)
	time.sleep(5)
	print("Disarming")
	vehicle.armed   = False
server = WebsocketServer(8080, '0.0.0.0')
server.set_fn_new_client(new_client)
server.set_fn_message_received(message_received)
server.run_forever()

And the optional client code, running on a remote computer (change the IP 192.168.0.100 with Aero's IP on YOUR NETWORK):

from websocket import create_connection
ws = create_connection("ws://192.168.0.100:8080")
ws.send("Alert, send drone")
result = ws.recv()
print("Received '%s'" % result)
ws.close()

Networked drone in MQTT

Please refer to the module D2 - Software - Networked Drone of the course for more information about the following codes.

To install the Python MQTT API on Intel Aero (should be there already):

pip install paho-mqtt 

A MQTT client in your browser, to generate a message posting.

UNPLUG THE PROPELLERS BEFORE RUNNING THIS CODE. WE INSIST.

Here's the client code, running on Intel Aero:

import paho.mqtt.client as mqtt
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)
vehicle.mode    = VehicleMode("GUIDED")
print("Flight Controller Connected")

def on_connect(client, userdata, rc):
	print("Client connected ")
	client.subscribe("aero-paul")
def on_message(client, userdata, msg):
	print("Arming motors ("+msg.topic+"/"+str(msg.payload)+")")
	vehicle.armed   = True                                   
	while not vehicle.armed:                                 
		time.sleep(1)                           
	time.sleep(5)                                   
	print("Disarming")                            
	vehicle.armed   = False                       

client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
client.connect("test.mosquitto.org", 1883, 60)
client.loop_forever()

Peripherals

Intel Aero board LEDs

There's a multicolor LED on top of the board (if the board is in the enclosure, you can see the light from the white cable hole), and an orange LED under the board. As the LEDs are enclosed in the Ready-To-Fly design, it is not very useful. But if you build your own drone design or enclosing you may want to let the LEDs visible and use them. To install the IO module:

pip install python-periphery

And here is a sample code to test all the LED colors:

import time
from periphery import GPIO

print "Top LED Blue"
gpio = GPIO(403, "out")
gpio.write(bool(1))
time.sleep(1)
gpio.write(bool(0))
gpio.close()

print "Top LED Green"
gpio = GPIO(397, "out")
gpio.write(bool(1))
time.sleep(1)
gpio.write(bool(0))
gpio.close()

print "Top LED Red"
gpio = GPIO(437, "out")
gpio.write(bool(1))
time.sleep(1)
gpio.write(bool(0))
gpio.close()

print "Bottom LED Orange"
gpio = GPIO(507, "out")
gpio.write(bool(1))
time.sleep(1)
gpio.write(bool(0))
gpio.close()

CAN

The Intel Aero Compute Board includes a MCP2515 CAN controller and MCP2562 CAN transceiver. The controller is connected to the Atom processor via the SPI interface on bus 1 (SPI1) chip select 0 (CS0). It can be accessed via spidev as /dev/spidev1.0. Python spidev libraries