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Course Outline
Introduction to ArduPilot
- Overview of ArduPilot ecosystem and applications
- Supported vehicles and platforms (drones, rovers, boats)
- Comparison with PX4 and other autopilot systems
Setting Up the Development Environment
- Installing ArduPilot build tools on Linux
- Compiling the source code
- Exploring ArduPilot configuration files
Simulation and Testing with SITL
- Running Software In The Loop (SITL)
- Connecting SITL to MAVProxy and Mission Planner
- Integrating with Gazebo for physics-based simulation
Drone Programming Essentials
- Overview of MAVLink communication protocol
- Using DroneKit Python API for UAV control
- Writing simple scripts for takeoff, navigation, and landing
Working with Hardware and Sensors
- Supported flight controllers (Pixhawk, Cube, etc.)
- Integrating GPS, IMU, and cameras
- Calibrating sensors and configuring parameters
Autonomous Missions
- Designing waypoint-based missions
- Failsafes, geofencing, and return-to-launch (RTL)
- Real-world testing and flight safety considerations
Extending ArduPilot with ROS2
- Connecting ArduPilot to ROS2 via MAVROS
- Building autonomy with ROS2 nodes
- Integrating AI and computer vision for advanced UAV behaviors
Troubleshooting and Optimization
- Debugging with SITL logs and telemetry
- Analyzing flight data logs
- Performance tuning for stability and efficiency
Summary and Next Steps
Requirements
- Experience with the Linux command line
- Programming experience in Python or C++
- Basic understanding of robotics or drone flight principles
Audience
- Developers
- Robotics engineers
- Technical researchers interested in UAV development
14 Hours
