DRONE : Drone Kit Referance 정리

뭔가 연결은 된거 같으면서 안된 느낌 < 인생에 물음표를 던지지 말고 느낌표를 던진다. >

이제 소스를 좀 분석해 보려고 한다. 한줄씩 따라가다보면 그리고 고쳐가다 보면 내 것이 되있겠지~

우리보고 3포~ 9포 세대라고 한다.

오늘 할 일

Drone Kit Referance 정리

DroneKit_Webpage

Getting Start 시작.

DroneKit-Python apps are typically run on Linux-based companion computers that travel on the vehicle and communicate with the autopilot via a serial port. However, during development it is usually easier to prototype apps on a standard Mac, Windows, or Linux computer using a simulated autopilot. 

This topic explains how to set up and run DroneKit-Python (within MAVProxy) on the different host operating systems and then run a basic DroneKit app.

Installing DroneKit on Linux

sudo apt-get install python-pip python-dev python-numpy python-opencv python-serial python-pyparsing python-wxgtk2.8

The remaining dependencies (including MAVProxy), are installed when you get DroneKit-Python from the public PyPi repository:

sudo pip install droneapi

Starting MAVProxy

Before executing DroneKit scripts you must first start MAVProxy and connect to your autopilot (simulated or real). The connection to the vehicle can be set up on the command line when starting MAVProxy or after MAVProxy is running.

-> 여기를 놓쳤구나~!

Connecting at startup

The table below shows the command lines used to start MAVProxy for the respective connection types:

MAVProxy connection options

Connection type	MAVProxy command
Linux computer connected to the vehicle via USB	mavproxy.py --master=/dev/ttyUSB0
Linux computer connected to the vehicle via Serial port (RaspberryPi example)	mavproxy.py --master=/dev/ttyAMA0 --baudrate57600
SITL connected to the vehicle via UDP	mavproxy.py --master=127.0.0.1:14550
OSX computer connected to the vehicle via USB	mavproxy.py --master=/dev/cu.usbmodem1
Windows computer connected to the vehicle via USB	mavproxy.py --master=/dev/cu.usbmodem1

Connecting after startup

To connect to the autopilot once MAVProxy has already started use link add <connection> in the MAVProxy command prompt, where <connection> takes the same values as master in the table above. For example, to set up a connection to SITL running on the local computer at port 14550 do:

link add 127.0.0.1:14550

If you’re connecting using a serial port you may need to first set up the baud rate first (the default is 57600). You can change the default baudrate used for new connections as shown:

set baudrate 57600    #Set the default baud rate for new connections (do before calling "link add")

~/Gwang_ws$ mavproxy.py --master=/dev/ttyAMA0,57600

mavproxy.py --master=/dev/ttyAMA0,57600 --out=10.0.1.2:14540