spiral_path_drone

In this project ArduPilot SITL and MAVProxy is used with Gazebo to simulate a drone.

Dronekit python script is used to send commands to the drone and execute the spiral path.

Finally OpenCV is used to detect the arUco marker and trigger the landing.

Setup

In a terminal window execute the following Gazebo command

gz sim -v4 -r iris_runway.sdf

In another window execute Arducopter SITL command and wait for initialization

sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console

Finally run the DroneKit script in a third terminal

python2 spiral_path_drone.py