/uav-mission-server

Primary LanguageC

UAV Mission Server

The UAV mission server functions as a go-between for the flight control unit and the UAV mission, enabling multiple clients to communicate via a serial port over TCP and processing ground control commands using the MAVLink protocol. This server permits the initial client that connects (following a first-come, first-served approach) to send data to the serial port.

architecture diagram

Prerequisites

Install GStreamer:

$ sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

Install libYAML:

$ sudo apt install libyaml-dev

future is required to generate MAVLink headers.

$ pip3 install future

Build

$ make

Usage

Start Video Streaming:

$ scripts/streaming-server.sh

Launch Mission Server:

$ build/mission-server [-p tcp_port] [-r,--print-rc]

Command Sending (The server must be launched first):

To play a tune with designated track number:

$ build/mission-server --send-tune track-number

Arguments

  • TCP Port -- The TCP to accept connections on (optional, the default is 8278).

Configuration

Serial Port Configuration

The serial port can be configured via serial.yaml, where the default settings are given as follows:

port: /dev/ttyUSB0
baudrate: 57600
parity: N
data-bits: 8
stop-bits: 1

Note that:

  • port is the name of the serial port to use (e.g., /dev/ttyS0 on UNIX).
  • baudrate is the baud rate to use, e.g., 115200.
  • parity can be N for none, O for odd, E for even, M for mark, or S for space.
  • data-bits can be 5, 6, 7, or 8.
  • stop-bits can be 1, 1.5, or 2.

Camera and Gimbal Configuration

Currently, the uav-mission-server supports up to 6 camera-gimbal pairs defined in devices.yaml.

A valid device setting includes a device type name, the configuration file corresponds with the device type, and should be enabled with true. For example:

device0_config: devices/siyi_a8_mini.yaml
device0_type: siyi
device0_enabled: true

Different device types have distinguished configuration formats (Though currently, the uav-mission-server supports siyi as the sole type only). Explore the directory config/devices/ for more information.