Drone project

Drone project code

Repository code @ https://github.com/Nnubes256/drone-project

Project structure

• .github: Continuous Integration workflows.
• icaros: The ICAROS (In-flight Communications And Reporting Operations System) drone-side code.
• icaros-control: The ICAROS Control (In-flight Communications And Reporting Operations System) ground-control-side code.
• icaros-base: ICAROS common code.
• icaros-docs: Generated HTML documentation for all Rust code (can be generated from source by executing cargo doc).
• flightControllingAlgorithm: Arduino flight controller code.
• ComputerVision: Computer vision in-flight application.
• rf24: Safe Rust interface to TMRh20's RF24 library.
• rf24-sys: Raw Rust bindings to TMRh20's RF24 library.
• bashScript: Supplementary scripts for Linux integration.

Building

Dependencies

• sudo apt-get install build-essential gcc libclang-dev hwloc
• Install Rust Nightly on the target platform through Rustup: https://rustup.rs/
• Build and compile WifiBroadacast using a C toolchain and Make: https://bitbucket.org/befi/wifibroadcast/. This should provide you with two executables: tx and rx.

Steps

• Pull the repository if you haven't already
• Navigate to the folder you have pulled the repository on
• Initialize the git submodules

git submodule update --init --recursive

• Build the project on debug mode

cargo build

• If you want to build the project in release mode (e.g. with optimizations), then do.

cargo build --release

Deployment

This assumes you have done the steps shown on Building on a Raspberry Pi.

Drone

• Create two new folders on /opt: computerVision and icaros.
• Copy the contents of bashScript/opt/computerVision/ and ComputerVision/ into /opt/computerVision.
• Copy icaros/start.sh into /opt/icaros/start.sh.
• Copy the WifiBroadcast executable tx as /opt/icaros/tx
• Go to target/debug or target/release (whether you have built the project on debug mode or release mode) and copy the built executable icaros to /opt/icaros/icaros.
• Install and enable the systemd services on bashScript/etc/systemd/system into /etc/systemd/system.

The ICAROS system and the object detection application should now start at boot.

Ground control

• Create a new folder on /opt called icaros_control.
• Copy the contents of icaros-control/www into /opt/icaros_control/www.
• Copy the WifiBroadcast executable rx as /opt/icaros/rx
• Go to /opt/icaros_control.
• Execute the program: sudo ./icaros_control.