musabgulfam / mav

Rust crates for the MAVLink lightweight messaging protocol for communicating with drones (and between onboard drone components).

MAV

The Rust book for Drones

You can run the Rust book for drones by using mdbook:

mdbook serve

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

Connecting to remote gazebo server:

https://answers.gazebosim.org/question/7117/running-gzserver-on-ec2-and-gzclient-locally-is-not-working/?answer=7172#post-id-7172

GAZEBO_IP=172.23.3.104 GAZEBO_MASTER_URI=172.23.1.170:12345 gzclient

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