Due to the competition I will be participating in, I cannot provide more information yet.
This repository contains prototype software for quadcopter which executes autonomous missions. Currently working on softwares: Precise landing on Aruco markers, depth estimation and obstacle avoidance with stereo cameras, stereo visual simultaneous localization and mapping, follow me etc.
Libraries: OpenCV(version 4.0), Dronekit, Numpy, Matplotlib(for 2D-3D Plotting), Skimage, Pytesseract(for text reading)
| Quadcopter Specifications | |
|---|---|
| Frame: | 7 inch Hybrid-X configuration |
| Running Firmware: | https://firmware.ardupilot.org/Copter/latest/KakuteF7/ (will be upgrated to INAV 4.0) |
| Flight Controller: | Holybro Kakute F7 (http://www.holybro.com/product/kakute-f7-v1-5/) |
| Companion Computer: | Raspberry Pi 4 Compute Module + StereoPi V2 (https://www.stereopi.com/v2) |
| Communication: | Over WIFI with ESP32-M1-Reach-Out (https://www.crowdsupply.com/bison-science/esp32-m1-reach-out) |
| GPS: | http://www.mateksys.com/?portfolio=m9n-f4 |
| ESC: | Tekko32 F3 45A 4 In 1 Blheli 32 3-6S Brushless ESC |
| Motors: | iflight XING 2450KV Brushless Motor x4 (will be upgraded to https://shop.iflight-rc.com/quad-parts-cat20/motors-cat26/xing-motors-cat148/xing-x2806-5-fpv-nextgen-motor-pro1001) |
| Cameras: | -For landing: https://www.waveshare.com/imx335-5mp-usb-camera-a.htm (auto focus version recommended) -For object avoidance and mapping: https://www.waveshare.com/imx219-160-camera.htm x2 |
FPV components are used for testing, troubleshooting and safety purposes only.
