MAVSDK-Python-UDP-From-Stream

Real-time offboard control commands to MAVSDK from external sources over UDP, including a Pygame GUI example for joystick-like drone control.

Overview

This project simplifies and extends the offboard control capabilities of MAVSDK-Python by introducing an easy mechanism for receiving and processing drone control commands via UDP. The new receiver.py script and ControlPacket class facilitate the integration of control commands from external sources (even an Arduino), and even different languages or technologies (such as image processing systems). These enhancements are particularly useful in scenarios where MAVSDK does not directly manage the command generation process, allowing for a highly flexible, system-agnostic approach to drone command and control.

Key Components

Universal Command Reception (receiver.py): Acts as a bridge to receive control commands via UDP, enabling integration with systems that do not natively interface with MAVSDK or are written in different programming languages.
Control Packet Class (control_packet.py): Ensures structured and efficient handling of incoming control data, allowing for clear and straightforward integration with external command sources.
Example Scripts: Includes examples demonstrating various control modes (attitude, body velocity, attitude rate, position NED circle), providing a practical reference for developers to implement similar functionalities.

Getting Started

Prerequisites

Python 3.7 or higher
MAVSDK
Pygame (for GUI examples)

Installation

Clone the Repository:

git clone https://github.com/alireza787b/MAVSDK-Python-UDP-From-Stream.git
cd MAVSDK-Python-UDP-From-Stream

Create a Virtual Environment (recommended):
```
python3 -m venv venv
source venv/bin/activate  # For Windows: .\env\Scripts\activate
```
Alternatively, you can use your global Python environment.
Install Dependencies:
```
pip install -r requirements.txt
```

Configuration

Configure the UDP IP and port settings in receiver.py. If using a real drone with a serial connection, enable the serial port and set the appropriate port on the companion computer connected to the Pixhawk board.

# Global Defaults
DEFAULT_CONNECTION_TYPE = 'udp' or 'serial'
DEFAULT_PORT_UDP = '14540'
DEFAULT_PORT_SERIAL = '/dev/ttyS0'  # Raspberry Pi default TTL

UDP_IP = "0.0.0.0"
COMMAND_UDP_PORT = 5005
BUFFER_SIZE = 1024

Running the Example Scripts

Run receiver.py:
```
python3 receiver.py
```
Send Commands:
- You can run one of the Pygame GUI examples or write your own script to send commands. Ensure the UDP IP and port match those configured in receiver.py.
For example, to run the body velocity sender example:
```
python3 examples/body_velocity_sender_example.py
```

Simulation Testing

To test the setup, you will need a SITL (Software In The Loop) interface on your computer. You can use JMAVSim, Gazebo, AirSim, or X-Plane. For Windows users, it is recommended to use WSL2.

Writing Your Own Commands

You can write your own command scripts in any language that supports UDP. Just follow the protocol defined in control_packet.py for sending and handling commands.

Safety Disclaimer

Testing on a real drone is risky in offboard mode. Do it at your own risk and only if you are sure your drone is perfectly tuned, flyable, failsafe logic is activated and tested, and you are in a safe environment.

Future Enhancements

Adding more control examples
Improving the Pygame GUI
Supporting additional communication protocols

Additional Resources

For more MAVSDK tutorials and basics, check out my YouTube tutorial on the basics of MAVSDK: MAVSDK Introduction + GCS GUI App example using Python Tkinter

Contribution

Contributions are welcome! Please open issues or submit pull requests with your improvements.

License

This project is licensed under the Apache-2.0 license.