AI- GPS

this project come to gave solution to the GPS with AI

at this project i use pi 4B with ubuntu flash - 22.04 -> for ros iron use with dorne at the drone i use ardupilot - for the telemetry esc

need to add here the artical that i read

missions that not do - big

1. learn pytorch - control it
2. need to check how to get the altitude from the baro - i dont get acsess from this
3. get the hdop data to the fpv
4. add some menual pit mode with pwm convertrt
5. make code that mech all the csv file - can waith with this part 9)make the big code the to the AI part with pytorch 10)visulize the new location -

**the main mission right now - learn pytorch

some idia - maby add the part of the controler in ?? (need to think about it )

#need to fill this line here data need to take from the drone: voltage of the drone compass heading heading from the GPS - GLOBAL_POSITION_INT (pymavlink) imu - SCALED_IMU //RAW_IMU ATTITUDE // ALTITUDE ( #141 )

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mission for the close time

1. change from scv to somthing that can andel more data
2. problem with the time
3. run time - ask if i can get the actual time

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download python 3.9.12 -- or else

Update package lists

sudo apt update

Install dependencies

sudo apt install -y build-essential zlib1g-dev libncurses5-dev libgdbm-dev libnss3-dev libssl-dev libreadline-dev libffi-dev wget

Download Python 3.9.12 source code

wget https://www.python.org/ftp/python/3.9.12/Python-3.9.12.tgz

Extract the downloaded archive

tar -xf Python-3.9.12.tgz

Navigate to the extracted directory

cd Python-3.9.12

Configure the installation

./configure --enable-optimizations

Compile and install Python

make #this proccese take some time -

sudo make altinstall

Update alternatives to set Python 3.9 as default

sudo update-alternatives --install /usr/bin/python3 python3 /usr/local/bin/python3.9 12

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download mavlink

need to download and check if the tinker board 2s get pip - if not, do this setup

1. wget https://bootstrap.pypa.io/get-pip.py
2. sudo python3 get-pip.py
3. pip3 --version --- check the version and if the pip install if it work - do install with the virtual enveirment
4. python3 -m venv myenv
5. source myenv/bin/activate
6. pip install --upgrade pip
7. deactivate

connect to the tinker board to the MavLink: dont tink that i need to move do "chmod" sudo mavproxy.py --master=/dev/ttyS0

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type of model i need to test

1. model_1 - when the camera gave only x,y data - and the motor do the ai
2. model_2 - when the camera do a - ai atself - model 3
3. model_3 - two layer of ai o ne for the camera and one for the motor

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run the run time of all sensor

need all the sensor gave the data at the smae time - so if the time not work together need to do some interpulation

1. GPS - all dim --- for holybro micro m10: Up to 25 Hz (single GNSS), Up to 10 Hz (4 concurrent GNSS) for gep-m10: Up to 10 Hz

• the ardupilot set to publish this data at 50 hz -> need to check it

3. imu - euiler andle

4. compass -IST8310 Compass - 200Hz - i ask only for 10hz....

5. camera fps need to check -> make some node maby ??

6. baro altitude

7. motor telem the ardupilot pucligh it to 10 mhz -> need to check the actual speed

/// some thinking - maby make skript for every instrument to check the run time of him - and take the main

camera code at the first step lets do openc cv simple code with tracing algoritem

https://www.youtube.com/watch?app=desktop&v=GgGro5IV-cs - explanation about the code i need

i use # Enhancing the Lucas-Kanade parameters need to check it and determen if had onother optical flow camera for ros2

main mavros node

ros2 run mavros mavros_node --ros-args -p fcu_url:=/dev/ttyAMA0 -p gcs_url:=udp://@127.0.0.1

i can call to the ros2 topic list and take the topic of the esc - maby its batter....

important ros2 command:

ssh -X drone@ -- publish the rqt to the main computer ros2 launch drone_project drone_launch.py ros2 launch drone_project optical_flow_processor.launch.py ros2 run v4l2_camera v4l2_camera_node --- run v4l node for the camera ros2 run rqt_image_view rqt_image_view --- important command to see the vedio from the camera

14.5 - this is the build for right now - witout the camera

problem: 2) run process on boot - need the help of someone 7) start the part of the tourch -> need to take advise from talhaim 8) find way to save all the data at proper way