Corridor mapping - linear structures mapping

[FABIO-CARNEIRO-LOBO]

Issue details

The proposal is to carry out mapping along linear structures: highways, ducts, railways, etc.

The idea is to (1) indicate an alignment to be mapped (the axis of the linear structure); (2) indicate the mapping width along this axis; (3) collect the photos with percentage coverage values (laeral and sequential).

This question is open on two other related topics:

1. https://discuss.ardupilot.org/t/corridor-mapping/21398
2. https://github.com/mavlink/qgroundcontrol/issues/5695

Platform

[ ] All [ ] AntennaTracker [x] Copter [x] Plane [ ] Rover [ ] Sub

Airframe type

Flying wing / hexacopter

Hardware type

Pixhawk (on my case)

[meee1]

MP beta already has this

[FABIO-CARNEIRO-LOBO]

Uhuuuuu!!!!

Em 25 de set de 2017 19:10, "Michael Oborne" notifications@github.com escreveu:

MP beta already has this [image: image] https://user-images.githubusercontent.com/511568/30833387-4ba2f7bc-a281-11e7-8dc9-f3fa69d66c87.png

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[nfguide]

@meee1 downloaded the latest beta, 1.3.49.29. Not real clear or evident what the secret decoder is needed to create a corridor mission. What is the secret? Is there a document anywhere around on how to plan a corridor mission?

Thanks!

[meee1]

its a tick box in the normal survey grid screen

[nfguide]

Great, and thanks.

Quick question. This is based on a polygon, correct? If so, what would be your suggestion for a corridor that is 60m in width and 200+km in length? A polygon doesn't seem reasonable does it?

[meee1]

that comes down to your flight frame specs. if you have to split it up that's your call.

the closing leg of the polygon is not used. try it and see is the easiest option

[nfguide]

Yeah, not really working for what is needed. Great attempt though. Look forward to what the future holds and may need to look at other options.

Really need to be able to select a single line, put in the corridor width and have it calculate the mission from there. For example, attempting create a 60m wide polygon in 30km length segments is really not feasible.

[jmachuca77]

That’s what this does. The first point of the “polygon” is the start of the line. Tinge last point you click will be the end of the line. Then you set the width of the corridor on the settings. And the flight lines generated will be parallel to the perimeter of the polygon. With out taking into account the closing line of the polygon.

Best regards,

Jaime Machuca CEO | Element Aero | www.element.aero Mail. jaime@element.aero

Off. +52 (33) 3805 4627 Cel. +52 1 (33) 3945 3350

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On Sep 25, 2017, at 6:39 PM, nfguide notifications@github.com wrote:

Yeah, not really working for what is needed. Great attempt though. Look forward to what the future holds and may need to look at other options.

Really need to be able to select a single line, put in the corridor width and have it calculate the mission from there. For example, attempting create a 60m wide polygon in 30km length segments is really not feasible.

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[nfguide]

Great starting point and proof of concept.

Keep working on it, and if I may make a suggestion, attempting to do this using a polygon is not practical for use in the real world. It needs to be a line drawn, and set the relevant parameters.

[FABIO-CARNEIRO-LOBO]

An opportunity for this type of survey is the integration with the design tracings of linear structures - which, as a rule, are in line type. The integration could come from the importation of a track (in dxf or kml file) and the definition of the width of the flight cover (or the offset of the axis) which, together with the lateral covering of the tracks of the photos, would determine the lines of flight. Could this implementation be possible?

[FABIO-CARNEIRO-LOBO]

The image presents a general mapping scheme on a CAD software, with a fixed wing equipment - with 80/45% overlapping photos

[nfguide]

@FABIO-CARNEIRO-LOBO ,

YOU nailed it, EXACTLY!!!

[cczeets]

@meee1 Could you add a twist to the heading hold ability in this AWESOME tool you created? I would propose that you have an option where the heading hold maintains parallel to each leg of the corridor without having to spin around 180-degrees at the end of each corridor line. This would be ideal when using a multi-rotor.

Best, Steve

[FABIO-CARNEIRO-LOBO]

@meee1, do you have any suggestion on how the corridor mapping implementation could be based on a linear input, instead of the polygonal one?

[meee1]

what you are asking already exists, although there is one extra line drawn at the moment.

just draw the line using the polygon tool, and ignore the fact that it draws the final line to home, as the tool doesn't use it anyway

[meee1]

[FABIO-CARNEIRO-LOBO]

Thank's

2018-03-25 10:08 GMT-03:00 Michael Oborne notifications@github.com:

[image: image] https://user-images.githubusercontent.com/511568/37875364-9803b7cc-3070-11e8-93a8-15ddac00a5f0.png

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-- Fábio Carneiro Lobo

[FABIO-CARNEIRO-LOBO]

Could the polygon be inserted into the mission planner by an external kml or shapefile? Or the user must draw the polygon on the mission planner?

[Tryggvistef]

This corridor option is great and works as one could expect and we have used it on multiple occasion! Although I have one question why is it not possible to have even number of flight legs? It is always an odd number (3,5,7 and so on). In practice it is on many occasion better to have even numbers, let say you start the flight on a straight corridor mapping and the drone always finishes the mission the furthest away so you either need to land there or fly it home when that flight home could be used for the mapping as well. Is there any reasoning behind this odd number of flight legs that I am not getting?

[FABIO-CARNEIRO-LOBO]

Maybe it's because the first thing that the corridor mapping do is: set the principal lane as the middle... and all others will be buffered around it.

Does anyone use the terrain follow altitude on plane mapping?

Em dom, 7 de out de 2018 11:23, Tryggvistef notifications@github.com escreveu:

This corridor option is great and works as one could expect and we have used it on multiple occasion! Although I have one question why is it not possible to have even number of flight legs? It is always an odd number (3,5,7 and so on). In practice it is on many occasion better to have even numbers, let say you start the flight on a straight corridor mapping and the drone always finishes the mission the furthest away so you either need to land there or fly it home when that flight home could be used for the mapping as well. Is there any reasoning behind this odd number of flight legs that I am not getting?

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[Tryggvistef]

@FABIO-CARNEIRO-LOBO that makes sense and is propably the reason, if thats the case it would be nice to change the method. To answer your earlier question, yes you can insert polygons at least from a shapefile. To do so in MIssion planner you need to right click on the map in the FLIGHT PLAN tab -> expand the Draw Polygon and select from SHP.

[FABIO-CARNEIRO-LOBO]

Thanks for the answer!

Em seg, 8 de out de 2018 06:41, Tryggvistef notifications@github.com escreveu:

@FABIO-CARNEIRO-LOBO https://github.com/FABIO-CARNEIRO-LOBO that makes sense and is propably the reason, if thats the case it would be nice to change the method. To answer your earlier question, yes you can insert polygons at least from a shapefile. To do so in MIssion planner you need to right click on the map in the FLIGHT PLAN tab -> expand the Draw Polygon and select from SHP.

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