RPi Drone Workshop Code

This repository contains the codebase for a Raspberry Pi-based drone system designed for educational workshops and competitions. The system supports both simulation (SITL) and real Pixhawk hardware, and enables communication with a Ground Control Station (GCS) via serial, UDP, or TCP. Participants can implement custom drone missions by defining waypoints and tasks.

Features

• Flight Control: Connects to Pixhawk (SITL or physical), arms/disarms, takeoff, land, and waypoint navigation.
• Communication: Supports serial, UDP, and TCP links between the drone and GCS.
• Image Handling: Receives and processes images from a camera module (USB or RPi camera).
• Mission Planning: Participants can define custom missions by specifying waypoints.
• Failsafe Mechanisms: Includes modules for battery drop, disconnect, motor loss, and unstable IMU.
• Extensible: Modular structure for easy extension and customization.

Directory Structure

src/
  main.py                # Entry point for the drone system
  comms/                 # Communication modules (serial, UDP, TCP)
  config/                # YAML configuration files
  controllers/           # Flight and communication controllers
  failsafe/              # Failsafe modules
  participant_codes/     # Participant mission templates and planners
  search/                # Image receiving and processing
  utils/                 # Helper functions, logging, message parsing

Quick Start

0. Download the Code

Clone the repository from GitHub:

git clone https://github.com/Srish510/drone-workshop-code.git
cd drone-workshop-code

1. Install Dependencies

Install Python 3.8+ and the required packages:

pip install -r requirements.txt

2. Configure the System

Edit the configuration files in src/config/ as needed:

• connections.yaml: Set up communication type and camera settings.
• pixhawk_config.yaml: Choose between SITL or physical Pixhawk and set flight parameters.

3. Run the System

python src/main.py

The system will connect to the Pixhawk, initialize communication, and wait for commands from the GCS.

Participant Instructions

1. Copy the Template:
   • In src/participant_codes/, copy format.py to a new file named after your team (e.g., alpha_team.py if your team name is Alpha Team).
2. Implement Your Mission:
   • Edit only the mission_plan function in your team file to return a list of waypoints: [(x1, y1, alt1), (x2, y2, alt2), ...].
   • Each waypoint is relative to the takeoff point (in meters).
3. Do Not Modify Other Files:
   • Only your team file should be changed. Other modifications may result in disqualification.
4. Test Your Mission:
   • The organizers will run your mission in simulation and on real hardware if selected.

See src/participant_codes/format.py for detailed instructions and requirements. Submission details will be shared at the venue by the organizers.

Configuration

• connections.yaml: Communication and camera settings.
• pixhawk_config.yaml: Pixhawk connection and flight parameters.

Requirements

• Python 3.8+
• pymavlink
• pyserial
• PyYAML
• opencv-python-headless
• numpy

Install all dependencies with:

pip install -r requirements.txt

Safety & Rules

• Always prioritize safety in mission design.
• Do not exceed operational bounds provided by organizers.
• Unsafe or non-compliant missions may be disqualified.

Documentation

For detailed module descriptions, architecture, configuration, and troubleshooting, see the full documentation.

License

This project is for educational and competition use. See organizers for licensing details.