Navigation System

A small two tier architecture (react/flask) drone navigation system.

Table of Contents

• Navigation System
• Table of Contents
• Features
• Tech Stack
  • Installation
  • Usage
• Project scope

Features

• OSM Display and overlays
  • Point overlay for the drone position
  • Polygon and Circle representation for the no fly zones
  • Dot representation of pathfinder waypoints
  • Line representation of the drone path
• Connection to the drone via MAVLink protocol
  • Allows specifying the connection string and baud rate
• Four major modes of operation: STABILIZE, GUIDED, RTL, AUTO (MISSION)
• Telemetry thread to display: Local XYZ position and velocity, GPS lattiude and longitude, ROLL/PITCH/YAW rotation angles, current mode and armed status
• Arming and takeoff to a specified altitude
• Manual control of the drone XYZ via double joystick and YAW rotation.
  • 2D Joystick for XY movement
  • 1D Joystick for Z movement
• Single point navigation (click on the map) without pathfinder
• Single point navigation (click on the map) with pathfinder and no fly zone rule enforcement
• Multiple point navigation (click on the map) without pathfinder
• Drone path override via (GUIDED-> XYZ Joystick / YAW / Single Point Navigation)

Tech Stack

Frontend has been built with React and Leaflet. Tailwindcss was used for the UI styling.

Backend has been built with Flask and PyMavlink. The backend is responsible for the MAVLink communication with the drone and allows a smooth websocket communication with the frontend. There is an additional thread for telemetry data retrieval and pushing it to the frontend.

SocketIO is set to be the main driver for the communication between the frontend and the backend.

Installation

Copy the repository and install the required packages:

git clone https://github.com/Rafisto/navigation-system.git
cd navigation-system
# frontend
cd react
npm install
# backend
cd api
python -m venv venv
source venv/bin/activate
pip install -r requirements.txt

Usage

Run via

# frontend
cd react
npm run dev
# backend
cd api
source venv/bin/activate
python app.py

Project scope

Project scope has been defined by the following requirements:

1. Automatic flying along a given path
2. Rotating the drone to given angles
3. The ability to override the drone's path at any time
4. The ability to manually control the drone
5. No-fly zones in the shape of a circle, rectangle, and convex polygon (9-gon)

The project was finished on 22-11-2024.