cnpcshangbo / vision-hovering

Drone code for flight tests in an ICUAS 2016 paper.

Drone vision hovering Project

Drone code for flight tests in an ICUAS 2016 paper. Vision detecting a red circle on ground. Controlling drone to hover on the red circle.

Citation

Bo Shang, Jianxin Liu, Tiebiao Zhao, and YangQuan Chen. Fractional order robust visual servoing control of a quadrotor UAV with larger sampling period. In 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pages 1228-1234. IEEE, 2016.

@inproceedings{shang2016fractional,
  title={Fractional order robust visual servoing control of a quadrotor {UAV} with larger sampling period},
  author={Shang, Bo and Liu, Jianxin and Zhao, Tiebiao and Chen, YangQuan},
  booktitle={2016 International Conference on Unmanned Aircraft Systems (ICUAS)},
  pages={1228--1234},
  year={2016},
  organization={IEEE}
}

Hardware Settings

Odroid, camera, USB Wi-Fi dongle mounted on a 3DR DIY platform.

Software Prerequisites

Adding repos;

Python, pip, dronekit 2.8

pip install pymavlink

pip install pyserial

First Run

Test baudrate:

screen /dev/ttyUSB

cd scripts

python objtrack-fopi.py

Visit: http://192.168.0.102:8081/ to get the GUI. (192.168.0.102 needs to be changed to the drone's IP address.)

Thank the project of ardupilot-balloon-finder

Code meant to be run on an Odroid to allow an ArduCopter Pixhawk based multicopter to find red balloons for Sparkfun's AVC 2014 competition

Installation instructions can be found here: http://dev.ardupilot.com/wiki/odroid-via-mavlink/#Red_Balloon_Finder

vision-hovering's Issues

Uncompatible with OpenCV 3

When I run

python objtrack_fopd.py

I got the following errors.

root@intel-aero:~/vision-hovering-master/scripts# python objtrack_fopd.py 
>>> APM:Copter V3.6-dev (385d1c19)
>>> PX4: 8d505a02 NuttX: 1a99ba58
>>> Frame: QUAD
>>> AEROFCv1 003F0034 33355118 39343335
CherryPy Checker:
The Application mounted at '' has an empty config.

max in webserver:  14
Cherrypy initial completed.
Traceback (most recent call last):
  File "objtrack_fopd.py", line 583, in <module>
    strat.run()
  File "objtrack_fopd.py", line 239, in run
    fourcc = cv2.cv.CV_FOURCC(*'XVID')
AttributeError: 'module' object has no attribute 'cv'

After checking the cv version, I found the OpenCV on Intel Aero Drone is OpenCV 3. Then I remembered the main project of rmackay9/ardupilot-balloon-finder had a commit to make it compatible with OpenCV 3 (rmackay9@0dac5d6). Therefore, I need to change according to it.