Ardupilot Version

sudo git clone https://github.com/ArduPilot/ardupilot.git sudo chmod 777 -R ardupilot cd ardupilot git checkout -b Copter-3.7 git submodule update --init --recursive Tools/environment_install/install-prereqs-ubuntu.sh -y or Tools/scripts/install-prereqs-ubuntu.sh -y

sudo git clone -b Copter-3.6.1 https://github.com/ArduPilot/ardupilot.git sudo chmod 777 -R ardupilot cd ardupilot git submodule update --init --recursive Tools/scripts/install-prereqs-ubuntu.sh -y

. ~/.profile export PATH=$PATH:$HOME/ardupilot/Tools/autotest export PATH=/usr/lib/ccache:$PATH . ~/.bashrc ./waf configure --board sitl ./waf copter

gazebo install sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list' wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt update sudo apt install gazebo9 libgazebo9-dev

git clone https://github.com/khancyr/ardupilot_gazebo cd ardupilot_gazebo mkdir build cd build cmake .. make -j4 sudo make install

#terminal 1 gazebo --verbose worlds/iris_arducopter_runway.world gazebo --verbose worlds/kus_hd3.world #terminal 2 cd ~/ardupilot/ArduCopter ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --out 10.160.17.33:14553 ../Tools/autotest/sim_vehicle.py -f coaxcopter -L --console --map

mission planner : output add 10.160.17.33:14553 qground control : output add 10.160.17.42:14550

127.0.0.1 mode guided arm throttle takeoff 40

pip list #ArduCopter 3.6.1 #mavproxy 1.8.19 #pymavlink 2.4.8 #Bailey Rotor model + Hybrid Drone 30 ICD

mavlink adding message ! import thing is mavproxy and pymavlink version!

ardupilot 3.6.1 install 순서

ardupilot/tools/autotest/default_params gazebo-iris.param --> FRAME_CALSS 4 (octa quad tyep)

ardupilot/tools/autotest/locations.txt daejeon location // Daejeon=36.4013942,127.3886591,80,0

ardupilot 최신 설치후 3.6.1로 다시 설치 GCS_mavlink/gcs_common.cpp 파일 수정 GCS_mavlink/gcs.h 파일 수정 ardupilot/modules/mavlink/message_definitions/v1.0/common.xml 파일 수정 sudo pip install --upgrade mavproxy sudo pip uninstall pymavlink cd ardupilot/modules/mavlink/pymavlink python setup.py install --user

sudo pip install --upgrade mavproxy sudo pip install mavproxy==1.7.7 sudo pip install pymavlink==2.3.2 setup.py ==> pymavlink version modified to 2.2.21 #mavproxy 1.8.19 #pymavlink 2.4.8

gst camera & gimbal model need gst pacakage and opencv sudo apt-get install gstreamer1.0-* sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

https://developer-thislee.tistory.com/15 https://ghostweb.tistory.com/823 sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf' sudo ldconfig

qt program sudo apt-get install libqt5-default

https://camera-manager.dronecode.org/en/guide/overview.html sudo apt-get update -y sudo apt-get install git autoconf libtool python-pip -y sudo apt-get install gstreamer-1.0
libgstreamer-plugins-base1.0-dev
libgstrtspserver-1.0-dev -y

Required python packages

sudo pip2 -q install -U future

Avahi

sudo apt-get install libavahi-client-dev libavahi-core-dev libavahi-glib-dev -y

git clone https://github.com/Dronecode/camera-manager.git cd camera-manager git submodule update --init --recursive ./autogen.sh && ./configure --enable-mavlink --enable-avahi --enable-gazebo make

Serve the sample Camera Definition Files: Open a new terminal to /samples/def Enter the following command to start the server on the default port (8000): python -m SimpleHTTPServer Run DCM, specifying the Gazebo configuration file: ./dcm -c samples/config/gazebo.conf

gazebo.conf

[mavlink] port=14550 broadcast_addr=127.0.0.255 rtsp_server_addr=10.160.17.42 system_id=1 [uri] gazebo=http://127.0.0.1:8000/camera-def-gazebo.xml [imgcap] width=640 height=480 format=2 location=/tmp/ [vidcap] width=640 height=480 framerate=25 bitrate=1000 encoder=3 format=1 location=/tmp/ [gazebo] camtopic=~/kus_hd3/kus_hd3_/kus_hd3/cgo3_camera_link/camera/image [rtsp] pipeline=appsrc name=mysrc ! videoconvert ! video/x-raw, format=YUY2 ! jpegenc ! rtpjpegpay name=pay0

rtsp://10.160.17.42:8554/gazebo

.gazebo/models make a folder 'models'

arm uncheck all