Software Development for Ardupilot Powered Unmanned Systems

Source codes of Software Development for Ardupilot Powered Unmanned Systems course.

Course documents

Documents and information about this course.

0. Disclaimer (read this first!)

Setting up the build and simulation environment

This section includes how to install the build environment and simulation software from Ardupilot source code and running the simulation with different vehicles for software development.

1. Introduction

2. Quickstart (Quickstart for Windows)

3. Setting up the build environment

4. Setting up the simulation software

5. Starting the simulation software individually

6. Creating simulation environment starter shell script

MAVProxy command line ground control station

This section includes use cases of MAVProxy command line ground control station and shell scripting.

7. Introduction

8. Installing instructions

9. Quickstart

10. Startup options

11. Telemetry forwarding

12. Creating MAVProxy shell scripts for automated proxy and forwarding services

13. Arming and disarming the vehicle

14. Mission editing

15. Geofencing

16. Rally point operations

17. Changing the flight mode of the vehicle

18. "command_int" Command

19. System commands

20. Log management

21. Graphing live data from the vehicle

22. Horizon module

23. Link management

24. "long" command

25. Map module

26. "position" command

27. Polygon fence

28. Set servo

29. Set relay

30. Sensor reporting

31. Text-to-speech module

32. Time sync

33. Terrain data handling

Software development with Python using Dronekit library

This section includes how to control and monitor the vehicle states in Python programming language using Dronekit library.

34. Introduction

35. Installing instructions

36. Connecting to the vehicle

37. Getting the vehicle states

38. Setting the vehicle states

39. Creating vehicle state observers

40. Getting and setting vehicle parameters

41. Taking off and landing the vehicle

42. Flying the vehicle to a location

43. Dealing with the autonomous missions

44. Calibrating the vehicle

Software development with Python using PyMAVLink library

This section includes how to control and monitor the vehicle states in Python programming language using PyMAVLink library.

45. MAVLink messaging protocol basics

46. Introduction

47. Installing instructions

48. Connecting to the vehicle

49. Receiving messages from vehicle

50. Sending messages to vehicle

51. Sending message stream requests to vehicle

52. Getting and setting vehicle parameters

53. Sending message requests to vehicle

54. Arming and disarming the vehicle

55. Changing the flight mode of the vehicle

56. Taking off and landing the vehicle

57. Flying the vehicle to a location

58. Change current mission in auto flight mode

59. Set servo

60. Set relay

61. Request and receive auto mode flight plan from vehicle

62. Create and send auto mode flight plan to vehicle

63. Sending partial mission item list to vehicle

64. Clear mission item list on vehicle

65. Request and receive fence from vehicle

66. Create and send fence to vehicle

67. Enable and disable fence

68. Request and receive rally points from vehicle

69. Create and send rally points to vehicle

70. RC override

71. Request default message streams

72. Home distance

73. Set flight speed

74. Set yaw

75. Pause/resume an autonomous flight

76. Reading RC inputs and servo outputs

77. Terrain checking

78. Getting and setting the home location of the vehicle

79. Send message from companion computer to GCS

80. Logging data to on-board data flash logs

81. Interprocess communication with MAVLink

On-board software development with LUA programing language

This section includes how to control and monitor the vehicle states of the vehicle by on-board using LUA programing language.

82. Introduction

83. Sample script

84. Arming and disarming the vehicle

85. Reading attitude of the vehicle

86. Reading location of the vehicle

87. Getting and setting vehicle flight mode

88. Take off and land the vehicle

89. Flying to a location

90. Location object examples

91. Multi location mission

92. Getting and setting vehicle parameters

93. Create and use a parameter

94. File read/write operations

95. Logging system

96. Read auxiliary channel switch

97. Multi location mission continued

98. Reading RC inputs

99. Set servo and relay

100. Protected function calls

101. Get and set home location

102. Read battery level

103. Get GPS time (get_time.py)

104. Get firmware version