MAV

MAV-SDK

A MAVSDK gRPC client ( HTTP/2 ) for communicating with a drone, built from proto files using tonic.

You need to be running MAVSDK Server (see https://github.com/mavlink/MAVSDK/releases).

Run PX4, Gazebo and MAVSDK Server with docker-compose

docker-compose up --detach

Take it to the skies

cargo run -p mav_sdk --example takeoff

Simulation

Gazebo with PX4

Useful documentation regarding the Gazebo simulation and the PX4 flight software:

• PX4 with Gazebo docs: https://dev.px4.io/master/en/simulation/gazebo.html
  • Setting up Wind speed: https://dev.px4.io/master/en/simulation/gazebo.html#change-wind-speed
  • GPS noise: https://dev.px4.io/master/en/simulation/gazebo.html#simulating-gps-noise
  • World location: https://dev.px4.io/master/en/simulation/gazebo.html#set-world-location
  • Survey camera (simulated MAVLINK camera) + geotagging: https://dev.px4.io/master/en/simulation/gazebo.html#simulated-survey-camera
  • Video streaming: https://dev.px4.io/master/en/simulation/gazebo.html#video-streaming Supported only on the Typhoon H480 frame and requires Gstreamer 1.0
• Creating a world with (SD Format is used by Gazebo): http://sdformat.org/tutorials?tut=spec_world&cat=specification
• Physics and other setup like wind:
  • SD Format - http://sdformat.org/spec?ver=1.4&elem=physics#physics_gravity
  • "Windy world" file from PX4 - Gazebo with (SITL): https://github.com/PX4/PX4-SITL_gazebo/blob/master/worlds/windy.world#L15-L26

ArduPilot

• Advanced configuration - Complete Parameter List: https://ardupilot.org/copter/docs/parameters.html#parameters

SITL (Software in the loop)

• Vehicle frame types to choose from: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#frame-types
• Starting SITL without MAVProxy (--no-mavproxy): https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#connecting-other-additional-ground-stations
• Using STIL: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html
• SITL Serial mapping: https://ardupilot.org/dev/docs/sitl-serial-mapping.html
• SITL Parameters: https://ardupilot.org/dev/docs/sitl-parameters.html

Docker images:

• https://github.com/radarku/ardupilot-sitl-docker
• https://github.com/gmyoungblood-parc/docker-alpine-ardupilot

Gazebo

Gazebo doesn't yet have built-in support for ArduPilot and it requires a plugin to be installed.

• https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html

MAVLink

• MAVLink basics: https://ardupilot.org/dev/docs/mavlink-basics.html#mavlink-basics
• MAVLink Routing in ArduPilot: https://ardupilot.org/dev/docs/mavlink-routing-in-ardupilot.html