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Drone Swarm Python

Inter-IIT Tech Meet 11.0: Bronze medal winning solution to Drona Aviation's Pluto Drone Swarm Challenge

Team Members: Yeeshukant Singh, Kshitij Bhat, Harsh Bardhan, Rohan Jha, Sairaj Loke, Akshit Raizada, Omkar Shirgaonkar, Shivankar Sharma, Abhishek Nair and Karandevsinh Khuman

API for controlling The Pluto 1.2 nano drone

Pluto1 2-ISO-Front

Table of Contents

1. Project Description

2. Repository Structure

3. Tech Stack

4. Getting Started ( Linux / Windows)

5. Usage

  • a. Pre-Programmed Execution
  • b. Camera Feedback Execution
  • c. Keyboard Control
  • d. Manually stopping (killing) the drone

6. Video

1. Project Description

Task 1: Develop a Python wrapper for India's one and only number-one-selling educational nano drone, The Pluto.

Task 2: Hovering a pluto drone on a particular height using ArUco Tag. Set a web camera (which is not included in the kit) on the ceiling.

  • A. Get a pose estimation of the drone using ArUco tag on the drone.
  • B. Add PID to the script for controlling the droneC
  • C. Hover the drone in one position.
  • D. Move the drone in rectangular motion (1 x 2 meter)

Task 3: Pluto Swarming (A second drone will be provided - both the drones should fly at the same time) A. Generate one more ArUco tag and place it on the second drone. B. Initially, Drone2 will be at position0, and drone1 will be at position1. Write commands to move Drone1 from position1 to position2. When Drone1 reaches position2, drone2 should follow drone1 and reach position1 automatically. C. Same way, create a rectangle motion. (1 x 2 meter) D. Record a video and make the final submission similarly as the previous one.

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2. Repository structure

├─ docs
│    ├─ Task1.md
|    ├─ keyboard_control.md
│    └─ Task2.md
│  
├─ pypluto
│    ├─ pypluto
│    │   ├─ Camera
│    │   |   ├─ CAM_CONFIGS_lenovo.py
│    │   |   └─ marker.py
│    │   |
│    │   ├─ Control
│    │   |   └─ PIDmain.py
│    │   | 
│    │   ├─ __init__.py
│    │   ├─ drone.py
│    │   └─ enforce.py
│    │  
│    ├─ kill.py
│    ├─ main.py
│    └─ master.py
│    
├─ PrimusV4-Pluto_1_2-1.hex  
│
└─ requirements.txt

3. Tech Stack

  • python>=3.7
  • numpy==1.17.4
  • opencv_contrib_python==4.6.0.66
  • setuptools==45.2.0
  • matplotlib==3.1.2

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4. Getting Started

Prerequisites

The API is tested with the PrimusV4-Pluto_1_2-1.hex firmware installed on Pluto Drone. Ensure that git is installed on the system.

If pip3 is not installed, install it using the following command in Terminal

$ sudo apt update
$ sudo apt install python3-pip
Setting up a Python-Environment (optional) 
$ pip install virtualenv

Now check your installation

$ virtualenv --version

Now create a virtual environment inside an appropriate folder, type this in terminal for specific python-3 version

$ virtualenv -p /usr/bin/python3 Drone_Env

After this command, a folder named Drone_Env will be created.

Now at last we just need to activate it, using the command

$ source Drone_Env/bin/activate

Now you are in a Drone's Python virtual environment , follow the following cmds for installation of packages

Note: You can deactivate environment using

$ deactivate

Setting up pypluto package in Linux

$ git clone https://github.com/team53-interiit-11/Drona-Aviation-Team53
$ cd pypluto

Install the External Dependencies using the following command

pip install -r requirements.txt

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Note: For MacOS, follow the same procedure as Linux

Setting up pypluto package in Windows

Download get-pip.py using cmd prompt

curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py

To install run the following command using cmd prompt

python /path/to/get-pip.py

Run the following commands:

$ git clone https://github.com/team53-interiit-11/Drona-Aviation-Team53
$ cd pypluto

Install the External Dependencies using the following command

pip install -r requirements.txt

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5. Usage

a. Pre-Programmed Execution

Use the main.py template file for pre-programming the drone movement( without using any external camera) .

Following is a sample program. note: you might need to change the trim values depending on your drone.

from pypluto import pluto

if __name__ == '__main__':
	#initializing the drone
	drone=pluto()
	drone.connect()
	drone.disarm()
	
	#drone plan execution
	drone.trim(-2,2,0,0)
	drone.takeoff()
	drone.throttle_speed(0,3)
	
	#closing the execution
	drone.land()
	drone.disarm()

For detailed explanation of use of various movement functions, refer to Task1.md

b. Camera Feedback Execution

Instructions for controlling the drone using camera setup can be found in the Task2.md

c. Keyboard Control

User can also control the drone from keyboard by running the keyboard.py file in terminal/command prompt. Instructions for control via keyboard can be found in keyboard_control.md

d. Manually stopping (killing) the drone

In case the drone does not arm after running main.py, which may happen due to improper disarming of the drone, you can run kill.py instead of disconnecting the drone to disarm it properly and then run main.py to get regular operation

6. Video

Link to Drive : https://drive.google.com/file/d/1zlupXXNTnhAbURaeVlbYnx64emY9gVFm/view?usp=sharing

Hover Task: 0:00 to 0:32

Control Task: 0:33 to 1:39

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