Drone Base Framework

A modular base framework for building drone control systems using Anafi Parrot drones.

It is designed to be used as a git submodule in drone software projects.

Features

• Abstraction over drone states, control and streaming.
• Extensible for integrating custom modules
• Lightweight and focused on real-time.

Installation

Submodule Installation

To include this framework in your project:

git submodule add git@github.com:SpaceTime-Vision-Robotics-Laboratory/drone-base.git
git submodule update --init --recursive

To clone a project that already includes this as a submodule:

git clone --recurse-submodules <LINK TO YOUR PROJECT>

Note: We recommend placing it under external/ or libs/ for better structure.

Don't forget to update the submodule often:

git submodule update --remote external/drone_base

Note: PyCharm users should mark the drone_base directory as sources root for the submodule for intellisense to work.

To install it via pip you can:

python -m pip install -e ./external/drone_base

Setup as standalone

Install the packages from the requirements.txt.

Can then install it via pip with:

python -m pip install -e .

Getting started

Movement Keys

Key	Action
i	Move forward
k	Move backward
j	Move right
l	Move left
o	Rotate right
u	Rotate left
n	Increase height
m	Decrease height

Command Keys

Key	Action
q	Stop the drone
t	Start take off
y	Land the drone
p	Take a photo
z	Reset the gimbal camera position
x	Tilt the gimbal camera position 15 degrees
c	Tilt the gimbal camera position 30 degrees
v	Tilt the gimbal camera position 45 degrees
s	Tilt the gimbal camera position 60 degrees
d	Tilt the gimbal camera position 75 degrees
f	Tilt the gimbal camera position 90 degrees

Example of usages:

Run the example controller that only displays the video stream from the drone and has keyboard control.

python -m examples.display_only_controller

Run the video to frame to create a video from the frames generated from the video stream of a mission:

python -m drone_base.stream.saving.frames_to_video

License

This project is licensed under the Academic Free License v3.0 - see the LICENSE file for details.

Acknowledgments

• Parrot Olympe SDK
• Parrot Sphinx
• Space Time Vision Robotics Laboratory