TheuavRmp package isdesigned for a light weighted uav autonomous mission planning includingfull documentation capabilities. In the first place it is a simple andopen source planning tool for monitoring flights of low budget dronesbased onR. It provide an easy workflow for planningautonomous surveys including battery-dependent task splitting, savedepartures, and approaches of each monitoring chunks.
Introduction
The majority of the open UAV community is using the PixHawk autopilotunit and for planning probably theMissionPlanner or a bit morebasicQGroundControl groundstation software. Both are well documented and provide APIs (Applicationprogram interface) and easy to use GUIs (graphical user interface).Nevertheless both have only a poor planning support for terrainfollowing autonomous flights (basically SRTM data) and nostraightforward support for battery-dependent task splitting and savedepartures and approaches (MissionPlanner). Up to now the mostaffordable powerfulUgCS softwareprovides all of the above mentioned capabilities. However it ischallenging to use especially for a fast deployment of a small localflight task as typically requested in fieldwork.
TheuavRmp bridges this gap and generatesMAVLINK format compliant mission files that can be uploadedto the Pixhawk controller using an integrated function or externally byany Ground Control Station software.
Supported UAV platforms
Up to now theuavRmp package has been dedicated to lowbudget rtf-UAVs (ready-to-fly) as the DJI series that are supported byLitchi and Pixhawk based platformsas the Yuneec UAVs or the outdated but still running 3DR Solo.
The core planning toolmakeAP (make arial flight plan)creates either intermediate flight control files for the DJI UAVs orwaypoint files for the PixHawk family. Furthermore the optionuseMP unifies flight planning for PixHawk based platformsand DJI consumer drones. as it offers an easy conversion of surveysplanned withQgroundControl into the format readable byLitchi.
News
NOTE: The Litchi export for DJI Consumer drones issignificantly improved now. For details have a look at the vignette.
NOTE: Starting with Version 0.6.3 theraster package is removed and you need to provide theterra packageSpatRaster format only.
NOTE: You may use now the survey planning tool ofQGroundControl orMissionplanner and convertit either to DJI compatible Litchi format or MavLink files. Both withsafe flights to the mission start and RTH as well as task splitting. Youwill find an simple GUI interface callingshiny::runApp(system.file("shiny/plan2litchi/", "/app.R", package = "uavRmp")).
NOTE: The DJI control files are designed for usingwith the proprietaryLitchi flight control app exchangeformat, while the PixHawk/3DR Solo files are using theMAVLINK common message format, that is used by the PixHawkflight controller family.
Installation
You need GDAL to be installed. For using some of the the 3DR Solorelated functions you need to install the python libs in addition.
To install the most actual version do it fromgithub youneed to have installed thedevtools package.
install.packages("devtools")devtools::install_github("gisma/uavRmp", ref="master")[8]ページ先頭