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My drone simulation with AI project
("drone simulation with AI" = the drone is simulated, but the AI runs on actual PI4/Nano hardware with a real camera)
This wiki (a work in progress) is a public example of my technical research and documentation skills (the deliverables of the documentation projects I have worked on for the past 9 years were not public).
This wiki details how to simulate Ardupilot/PX4 drones (quadcopters). The simulation is connected to an Nvidia Jetson Nano or Raspberry PI4 companion (onboard) computer (CC) and a camera. The primary focus is on
- Flight simulation
- CC mission programming (autonomous drone flight)
- CC AI (object recognition)
The OS and languages used are primarily
- Linux (Ubuntu)
- Python
- C++, C
I started this project in November 2023. I had no previous drone or AI experience. I am working alone with no assistance.
- This wiki
- All (draft) technical documents are on my (Gdrive).
- Doc website (WIP)
- Blog (WIP)
The main requirements for my previous technical writing assignments were the following:
- Major documentation updates (technical and conceptual)
- New documentation tools and workflows
- Work independently (minimal assistance from the development and management teams)
This was how I successfully completed those assignments:
- I took ownership of the documents. I went to work quickly, collecting existing documentation and learning existing documentation processes. I used the product, studied competitor products, and documented in detail all my activities.
- I kept the documentation processes as simple and effective as possible. Eventually someone else would have to take over my work.
- I published my plans and draft docs for the internal target audience (dev and product management), making sure that stakeholders could easily see what direction the documentation was going.
- I focused on frequent udpated deliverables and long-term goals.
- At the end of the assignment, I facilitated a smooth handover of all deliverables.
24.0907 Wiki, Gdrive, Youtube, ZiptieAI.com, ZiptieAI docs. The author is looking for a job!
- The race 24.0818
- Why (you need) ZiptieAI
- Why (I created) ZiptieAI
- Wiki organization (6 epics) (outdated)
- Blog (latest)
- Conferences 24.0801
(0) Reference
EPIC 1 - Build/fly FPV drone
(1) FPV simulators (inav notes 0608)
- 2.0 Technical overviews
- 2.1 MVP (min viable platform)
- 2.2 GPS
- 2.3 Video
- 2.4 Carbon frame
- 2.5 Missions
- 2.6 Tuning (new)
- 2.7 Post-crash rebuild 24.0620
(3) SBeeF405/BF (1b)
(4) SBeeF405/AP (1c)
EPIC 2 - Build/fly Pixhawk drone
(5) Pix6c/PX4 (2a)
(6) Pix6c/AP (2b)
EPIC 3 - Add AI to Pixhawk drone
(7) AI cc + cam
(8) AI CC+FW
- (8a) AI Nano PX4
- (8b) AI Nano AP
- (8c) AI PI PX4
- (8d) AI PI AP
- 9.0 SIH NANO/PX4 24.0703 (WORKS!)
EPIC 4 – Basic Autonomy
(11) FC_Mavlink_API (via CC/GCS APIs) (5.3)
(13c) CC autonomy algorithms
EPIC 5 – Advanced Autonomy
(20) Kalman KK (+Python,vectornav)
(14) Firmware dev (5)
(22) AI
- (21) CV
- 13.1 AI Ubuntu
- 13.5 AI STM 24.0430
- 13.6 AI study
EPIC 6 – Project management 24.0903
- 21.1 Project docs (cms+conf/jira)
- 21.2 Git
- 21.3 APIs (create, swagger, publish
- 21.4 End user (dev) docs
EPIC 7 – Mission platforms / special projects
- 15.1 AI Kamikadze 24.0806
(16) Special projects (5.6,5.5)
EPIC 8 – PITS (Pie in the sky)
(12) ROS (+ROSMAV) (was E4)
(14b) Matlab (was E5/4(HITL))
(10) (skip) SITL (total sim) (1) (was E4)