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--- emrp2022:start [2023/03/19 05:37] – osama-haiyl-attallah.attallah
+++ emrp2022:start [2023/03/19 07:07] (current) – osama-haiyl-attallah.attallah
@@ Line 583: / Line 583: @@
 **Step 9) Cable management**
-Cable management is not the specific stage but a continuous process. Have a habit to group a particular set of wires to one side and another to the other side. This will help you to manage and check the connection at the very end when you try to figure out the errors while calibrating. Do not hesitate to use zip ties to group the wires. But make sure that wires don't get stretched too much that they may break. Fixing wire circularly around the flight controller and other electronics is the preferred way. You can see the grouping of wires and making a bundle of it and fixing it in between the radio and the flight controller using zip ties in figure 7.6.
+Cable management is not the specific stage but a continuous process. Have a habit to group a particular set of wires to one side and another to the other side. This will help you to manage and check the connection at the very end when you try to figure out the errors while calibrating. Do not hesitate to use zip ties to group the wires. But make sure that wires don't get stretched too much that they may break. Fixing wire circularly around the flight controller and other electronics is the preferred way. You can see the grouping of wires and making a bundle of it and fixing it in between the radio and the flight controller using zip ties in figure 29.
 **Step 10) Securing Top board**
-Securing the top board is as important as securing the bottom board as it will hold the structure of the drone. Also it will give support to battery and GPS modules or If we attach any sensor or mini CPU on a drone like Jetson NX. It is preferred to do it at the very end. We will fix the upper frame board to the arms by using 4 M2.5 screws each. We will do it exactly as shown in figure 4.6.
+Securing the top board is as important as securing the bottom board as it will hold the structure of the drone. Also it will give support to battery and GPS modules or If we attach any sensor or mini CPU on a drone like Jetson NX. It is preferred to do it at the very end. We will fix the upper frame board to the arms by using 4 M2.5 screws each. We will do it exactly as shown in figure 20.
 **Step 11) Mounting GPS module to the upper frame**
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 {{:emrp2022:screenshot_1375_.png?nolink&600|}}
 Figure 36: Vehicle Setup in QGroundControl
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 {{:emrp2022:quadcopter-control-motor-speeds.png?nolink&600|}}
 Figure 37: drone controls and their respective movements
 source: https://www.translatorscafe.com/unit-converter/de-DE/calculator/multicopter-lipo-battery/
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 {{:emrp2022:whatsapp_image_2023-03-12_at_09.32.04.jpeg?nolink&600|}}
 Figure 38: Graupner transmitter confirming reciever binding
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 {{:emrp2022:screenshot_1376_.png?nolink&600|}}
 Figure 39: Radio calibration in QGroundControl
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 - Brake mode: Immediately stops the drone
-Try to setup a logical and easy-to-configure choice of flight modes, as it will be necessary to remember how you mapped them later during flight. The current set flight mode appears on the main screen of the ground control software.
+Try to make a logical and easy-to-configure choice of flight modes, as it will be necessary to remember how you mapped them later during flight. The current set flight mode appears on the main screen of the ground control software.
 Note while configuring the remote to the Qgroundcontrol: while doing subtrim process and setting up flight mode DO NOT SET THE EMERGENCY STOP MODE ON, it will crash the drone.
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 - Throttle friction
-- Throttle ratchet
+- Throttle ratchet  (the clicks felt when shifting the stick)
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 ==Setup power and ESC calibration==
-Before setting up the power source, some essentials have to be provided:
+Before setting up the power source, some considerations:
-Battery parameters:
-- Voltage: for 4S1P (4 LiPo cells), 14.8 V
+ESC Output capability: max 17.4 V
-- Capacity: 5000mAh
+Check the specifications of the battery:
-- Discharge rate: 30+/60C
-ESC parameters:
-- Output capability: max 17.4 V
-Motor parameters:
+{{:emrp2022:img-20221130-wa0002.jpeg?nolink&600|}}
-- Maximum current (A):
-- Maximum voltage (V):
-- KV values: 960 rpm
-RPM= Kv * Voltage
- for example: LBP2860, Maximum Current is80A, Maximum Voltage is 17V and 3400MV.
-Check the specifications of the battery:
-{{:emrp2022:img-20221130-wa0002.jpeg?nolink&600|}}
 Figure 40: 4S LiPo 14.8 V 5 Ah battery
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 {{:emrp2022:screenshot_1378_.png?nolink&600|}}
 Figure 41: Power setup and ESC calibration in QGroundControl
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 ==Safety warnings==
-In the safety section,
+{{:emrp2022:screenshot_1379_.png?nolink&600|}}
+Figure 42: Safety section in QGroundControl
+In the safety section, you have the option to include extra measures, such as ground station failsafe to control drone behavior if it lost RC control or ground statio control, in addition to a GeoFence, where you can assign visual boundaries to a physical locations for the drone to not cross. Most importantly, make sure that none of the arming checks are disabled, so that drone the would be fully functional to operate safely
+Make to check the Tuning section in Vehicle Setup to adjust flight characteristics! This is very important to test the sensitivity and response of the drone to transmitter commands
+{{:emrp2022:screenshot_1380_.png?nolink&600|}}
+Figure 43: Tuning options
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 {{youtube>tCXYo-r2UPo?}}
-=====Programming and Control=====
+=====Programming, Control and Drone Applications=====
-Drones can be programmed through a software development kit (SDK) or application programming interface (API) in their packages. Most of the drones that are programmable already come with their own firmware. Specialized functions or applications can then be be developed with a programming language like Python, or the SDK if already provided. Dronekit is an API that can be used to interface the drone by sending MAVlink commands to the drone. Dronekit comes readily equipped with intelligent flight path planning and other autonomous functions All complex tasks must be done from the source of a different framework, such as MAVSDK or ROS (robot operating system), which is a group of modular frameworks, wherein sensors publish data to subscribers. ROS and ROS 2 are different systems with the same concept. MavROS is a direct connection interface that pushes all the info from MAVlink into a ROS format.
+Drones can be programmed through a software development kit (SDK) or application programming interface (API) in their packages. Most of the drones that are programmable already come with their own firmware. Specialized functions or applications can then be be developed with a programming language like Python, or the SDK if already provided.
+Dronekit is an API that can be used to interface the drone by sending MAVlink commands to the drone. Dronekit comes readily equipped with intelligent flight path planning and other autonomous functions All complex tasks must be done from the source of a different framework, such as MAVSDK or ROS (robot operating system), which is a group of modular frameworks, wherein sensors publish data to subscribers. There is also ROS 2, but ROS and ROS 2 are different systems with the same concept. MavROS is a direct connection interface that pushes all the info from MAVlink into a ROS format. Drones have a the vast potential in remote sensing because of aerial photographic and surveillance capabilites, with algorithms from deep learning like classification, localization, object recognition etc.
-For image processing, you can't directly connect the camera to the flight controller, for that you need a companion computer. Offboard mode needs to be enabled when you link to a raspberry pie or jetson.
+However, there are some limitations that can hinder drones. First is the restriction on the weight and area available on the drone surface necessary to compute alogrithms with few hardware resources. If adequate processing power is needed, at most a battery with more cells i.e. bigger voltage and weight are also required. Additionally, for image processing, you cannot directly connect the camera to the flight controller, for that you need a companion computer. In addition, offboard mode needs to be enabled when you link to a raspberry pie or jetson, which limits drone movement and control.
+A prominent example of object classification applications is the identification and distinction between dogs and wolves, this can be useful in, for example farms or ranches where cattle lives, where the operating drone spots an invading wolf and would enact a mission program to chase and scare it away. Another instance is the rescue of lost pets, or identification of drowning or endangered animals, to help rescue them. By programming in Python and applying convolutional neural networks, this can be setup with the following:
-=====Conclusion=====
+Data/Photos selection: a dataset of different dog and wolf breeds is assembled
+Data augmentation: setting images to a certain resolution, generating tensor images
+Preparing and testing the model: training convolutional models
+Using Data with convolutional neural networks
+Evaluation of results: based on classiication accuracy
+For more details: https://www.kaggle.com/code/mohamedadel7774/cnn-for-dogs-and-wolves-with-accuracy-85#Import-Labraries
+Another capability is the appliation of drones in agriculture and environmental monitoring, where drones equipped with cameras can enhance precision agriculture performance, using RGB sensing and vegetation indices interpretation to produce soil analysis figures, assisst in fertiliser and pesticide spraying and crop health monitoring.
+source: https://www.mdpi.com/journal/remotesensing/special_issues/dronesagri
+=====Conclusion=====
+Going through this tutorial, you should have gained enough knowledge about certain components of drones, the step-by-step assembly of a DJI F550 Flamewheel hexacopter, ground control software, calibration of different parts of the drone, some safety precautions to stick to when working with drones, got to know briefly about the programming of drones and their promising potential in remote sensing applications such as for domestic animals, wildlife diffentiation, agricultural benefits and environmental monitoring
 =====Supplementary=====
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 {{ :emrp2022:679iph1pgmm41.jpg?600&nolink }}
 <imgcaption image1>https://engineeringmedia.com/map-of-control</imgcaption>
+ Figure 44: Map of control theory
 === Inverted Pendulum with PID ===