This is the software code for Team SINGULARIT's SUAS 2025 mission.

Mission

• Cover 12 points at a specified altitude
• Make a map of the area
• Drop 4 payloads, each payload in every lap.
• Laps once started cannot be broken in between.
• Detect and find the location of 4 objects in the airdrop boundary.
• Only one payload can be deployed in each lap.

Software Systems

• Get video stream from telemetry port. (RTSP Stream)
  • Fix latency issues (From 750ms to 560ms)
  • Split frames, on every second
  • Run a cropping algorithm to remove the unwanted parts of the frame(Camera details such as flash indicators)
• Open Drone Map
  • Feed the split frames into Open Drone Mapping algorithm and pass in the parameters to get fast and efficient map.
• YOLO
  • Run detection model on either video stream or video frames. Went with frames as inference rates are faster (1-2ms)
  • If any object (Just object detection is needed) is within the frame, note the geolocation of that frame.
  • Find the closest object to the center of frame and make sure that it is writeen into a seperate file.
• Payload Deployment
  • Trigger the servo pins (AUX pins 9 - 12) to drop each paylod
• Surveying Motion
  • Make the drone move in a coordinated lawnmover action with the speed of the drone set at 3m/s (Later realized it would have worked with 7m/s as well) Judging by the height and width of each recived frame.