A research diary of a drone system that monitors the coastal pollution
FINAL: UAV Trash monitoring system final demo
1. Use yolov3 to detect coast's debries : plastic bottles , plastic bags , caps etc
2. RTK
3. Obstacle avoidance
4. django GCS
Notice that in copter/model_data folder:
model_data/
trained_weights_final_009.h5
yolo_anchors_009.txt
voc_classes.txt
[x] You should download trained_weights_final_009.h5 below, and add to model_data folder
https://drive.google.com/open?id=1QVF2AbILUvDLGh02Uwbuzf-lKC-3xqI2
[x] connect your webcam, and run copter/yolo.py
T. H. Huang, "Path Planning and Visual Obstacle Avoidance Based on Fuzzy Theory for UAV Apllication," Master Thesis, Department of
Communications, Navigation and Control Engineering, NTOU, ROC, 2020
monito
into Voltage and Currnet
. (2) Make Sensor
into Other
. (3) Make APM Ver
into The Cube or Pixhawk
. (4) Input 18.1
into Voltage divider(Calced). (5) Input 36
into Amperes per volt
. (6) Disconnect and recoonnect the Pixhawk to finish the setting up.
RC7 opt
>> Auto tune
, and RC10 opt
>> Motor Interlock
, and save the changes.AUTOTUNE_AGGR
: 0.05 (default 0.1), AUTOTUNE_AXES
: 0 (I suggest tuning roll, pitch, yaw separately)ALT-HOLD
or LOITER
(
recommend) flight mode, and push throttle to 50% ~ 59%, and activate your Radio Controller CH7 to HIGH, then PID Auto tuning will work. Wait UAV beep~ indicate that auto tuning is done, and let your UAV land in Alt-Hold fight mode, land and disarm (the pid parameters is saved). Finally, disabled your CH7 to LOW.WPNAV_SPEED
: if set RTL_speed
to zero, RTL horizontal velosity will use this speed .WPNAV_RADIUS
: in AUTO mode, if this parameter set 100, that is, once your UAV enter waypoint radius 100 cm, pixhawk will stop and go to the next waypoint. WPNAV_SPEED_UP
: Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission.WPNAV_SPEED_DN
: Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission.
LAND_SPEED
: The descent speed for the final stage of landing in cm/s.LAND_SPEED_HIGH
: The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used.RTL_SPEED
: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.LOIT_SPEED
: Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode.PILOT_SPEED_DN
: The maximum vertical descending velocity the pilot may request in cm/s.PILOT_SPEED_UP
: The maximum vertical ascending velocity the pilot may request in cm/s.
RTL_ALT
: The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.WP_YAW_BEHAVIOR
: Determines how the autopilot controls the yaw during missions and RTLMOT_SPIN_MIN
: Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.GPS Blending (aka Dual GPS) : https://ardupilot.org/copter/docs/common-gps-blending.html
EK2_ALT_SOURCE:2
, EK2_POSNE_M_NSE : 0.1[meter] or 0.01[meter] (0.01 should use carefully)
git clone https://github.com/tomojitakasu/RTKLIB_bin/tree/rtklib_2.4.3/bin
strsvr.exe
, Input Type
choose Serial
, opt
choose COM port where F9P is connecting and baud rate is 115200, output Type
choose TCP server
and give it a port, and click start
bottom.EK2_ALT_SOURCE:2
, EK2_POSNE_M_NSE : 0.1[meter] or 0.01[meter] (0.01 should use carefully)
@article{yolov3,
title={YOLOv3: An Incremental Improvement},
author={Redmon, Joseph and Farhadi, Ali},
journal = {arXiv},
year={2018}
}
@article{yolov4,
title={YOLOv4: Optimal Speed and Accuracy of Object Detection},
author={Alexey Bochkovskiy, Chien-Yao Wang, Hong-Yuan Mark Liao},
journal = {arXiv},
year={2020}
}