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https://github.com/aerorust/mav
Rust crates for the MAVLink lightweight messaging protocol for communicating with drones (and between onboard drone components).
https://github.com/aerorust/mav
drones hacktoberfest robotics rustlang simulation
Last synced: 22 days ago
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Rust crates for the MAVLink lightweight messaging protocol for communicating with drones (and between onboard drone components).
- Host: GitHub
- URL: https://github.com/aerorust/mav
- Owner: AeroRust
- Created: 2020-12-05T18:00:29.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2024-09-22T13:53:17.000Z (4 months ago)
- Last Synced: 2024-12-19T10:09:15.097Z (22 days ago)
- Topics: drones, hacktoberfest, robotics, rustlang, simulation
- Language: Rust
- Homepage: http://aerorust.org/mav/
- Size: 5.83 MB
- Stars: 21
- Watchers: 7
- Forks: 8
- Open Issues: 7
-
Metadata Files:
- Readme: README.md
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README
# MAV
## The Rust book for Drones
You can run the Rust book for drones by using `mdbook`:
`mdbook serve`
## MAV-SDK
A [`MAVSDK`](https://github.com/mavlink/MAVSDK) gRPC client ( HTTP/2 ) for communicating with a drone, built from `proto` files using `tonic`.
You need to be running the `MAVSDK` Server (see https://github.com/mavlink/MAVSDK/releases) in order to use this crate.
### Run PX4, Gazebo and MAVSDK Server with docker-compose
```bash
docker-compose up --detach
```
### Take it to the skies
```
cargo run -p mav-sdk --example takeoff
```
### Development
Prerequisite:
1. Make sure you have SSH key set for your Github account.
See Github articles:
- [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent)
- [Adding a new SSH key to your GitHub account](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account)
Building the project:
1. Clone the repository and change dir:
`git clone [email protected]:AeroRust/mav.git && cd mav`
2. Install `protoc`:
* For [Linux & mac](https://grpc.io/docs/protoc-installation/)
* For [Windows](https://www.geeksforgeeks.org/how-to-install-protocol-buffers-on-windows/)
3. Initialize the `mavsdk-proto` submodule:
`git submodule init && git submodule update`
4. Build the project
`cargo build`
## Simulation
### Gazebo with PX4
Useful documentation regarding the Gazebo simulation and the PX4 flight software:
- PX4 with Gazebo docs: https://dev.px4.io/master/en/simulation/gazebo.html
- Setting up Wind speed: https://dev.px4.io/master/en/simulation/gazebo.html#change-wind-speed
- GPS noise: https://dev.px4.io/master/en/simulation/gazebo.html#simulating-gps-noise
- World location: https://dev.px4.io/master/en/simulation/gazebo.html#set-world-location
- Survey camera (simulated [MAVLINK camera](https://mavlink.io/en/services/camera.html)) + geotagging: https://dev.px4.io/master/en/simulation/gazebo.html#simulated-survey-camera
- Video streaming: https://dev.px4.io/master/en/simulation/gazebo.html#video-streaming
Supported only on the [`Typhoon H480`](https://dev.px4.io/master/en/simulation/gazebo_vehicles.html#typhoon-h480-hexrotor) frame and requires `Gstreamer 1.0`
- Creating a world with (SD Format is used by Gazebo): http://sdformat.org/tutorials?tut=spec_world&cat=specification
- Physics and other setup like wind:
- SD Format - http://sdformat.org/spec?ver=1.4&elem=physics#physics_gravity
- "Windy world" file from PX4 - Gazebo with (SITL): https://github.com/PX4/PX4-SITL_gazebo/blob/master/worlds/windy.world#L15-L26
### ArduPilot
- Advanced configuration - Complete Parameter List: https://ardupilot.org/copter/docs/parameters.html#parameters
#### SITL (Software in the loop)
- Vehicle frame types to choose from: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#frame-types
- Starting SITL without MAVProxy (`--no-mavproxy`): https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#connecting-other-additional-ground-stations
- Using STIL: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html
- SITL Serial mapping: https://ardupilot.org/dev/docs/sitl-serial-mapping.html
- SITL Parameters: https://ardupilot.org/dev/docs/sitl-parameters.html
Docker images:
- https://github.com/radarku/ardupilot-sitl-docker
- https://github.com/gmyoungblood-parc/docker-alpine-ardupilot
#### Gazebo
Gazebo doesn't yet have built-in support for ArduPilot and it requires a plugin to be installed.
- https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html
#### MAVLink
- MAVLink basics: https://ardupilot.org/dev/docs/mavlink-basics.html#mavlink-basics
- MAVLink Routing in ArduPilot: https://ardupilot.org/dev/docs/mavlink-routing-in-ardupilot.html