VisNav

Visual Navigation for ArduPilot

Preqs

• Mavproxy
• DroneKit

Setup

• Navigate to your home directory:
  $ cd

• Download my fork of ardupilot:
  $ git clone https://github.com/djnugent/ardupilot

• Download visnav:
  $ git clone https://github.com/djnugent/visnav

• Download the most recent version of pymavlink:
  $ git clone https://github.com/mavlink/mavlink

• Uninstall any previous versions of pymavlink:
  $ sudo pip uninstall pymavlink

• Navigate into pymavlink directory:
  $ cd /mavlink/pymavlink

• Install pymavlink:
  $ sudo python install setup.py

• Add sim_vehicle.sh to your path:
  $ sudo nano ~/.bashrc
  ADD THE FOLLOWING TO THE END OF THE FILE:
  export PATH=$PATH:$HOME/ardupilot/Tools/autotest
  Use ctrl-x to exit and save the file

• Have Dronekit load on startup:
  $ echo "module load droneapi.module.api" >> ~/.mavinit.scr

• Navigate to ardupilot/ArduCopter:
  $ cd /ardupilot/ArduCopter

• Intialize SITL:
  $ sim_vehicle.sh -w

• Disable prearm checks:
  $ param set ARMING_CHECK 0

• Kill SITL:
  Press ctrl-c

Run Precision land with SITL:

• Navigate to ardupilot/ArduCopter:
  $ cd /ardupilot/ArduCopter

• Start SITL:
  $ sim_vehicle.sh --console --map

• Arm vehicle:
  MAV> arm throttle

• Switch to guided mode:
  MAV> mode guided

• Takeoff:
  MAV> takeoff 20

• Start PrecsionLand:
  MAV> api start /home/<your_username>/visnav/PrecisionLand.py

• Kill SITL:
  Press ctrl-c

See my progress

• http://diydrones.com/profiles/blogs/precision-land-arducopter-demo
• http://diydrones.com/profiles/blogs/precision-land-arducopter

Related projects

• http://irlock.com/