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--- drone_programming [2022/09/24 22:16] – [DJI SDK's] jhagstrand
+++ drone_programming [2022/09/29 08:36] (current) – [Drone Programming] jhagstrand
@@ Line 1: / Line 1: @@
 ====== Drone Programming ======
+see spreadsheet of Quadcopter software: \\
+https://drive.google.com/drive/folders/0ByidsAQcVcUUOHpFZzFsaThTazg?resourcekey=0-mSHd_O56fPVihNa7uVd_bw
+===== Flight Controller (FC) Firmware =====
+Open Source FC firmware, onboard
+^ Name        ^ fork*^ FPV ^ Autonomous ^                                                    ^
+| Betaflight  | Yes  | Yes |    No      | Most popular, much supported hardware, many users. |
+| Cleanflight | Yes  | Yes |    No      | Ancestor of betaflight, now the same as.           |
+| Flight One  |  No  | Yes |    No      | Latest version: FalcoX. Easy setup.                |
+| KISS        |  No  | Yes |    No      | Hardware specific KISS hardware, pricey.           |
+| EmuFlight   | Yes  | Yes |    No      |                                                    |
+| INAV        | Yes  | Yes |   Yes      | Autonomous flight on Betaflight hardware.          |
+| Ardupilot   |  No  |  No |   Yes      | Not good for small drones.                         |
+| Silverware  |  No  | Yes |    No      | Specific for Tiny Hoops.                           |
+* originaly forked from Betaflight.  This means it runs on all the same hardware as Betaflight.
+Comparative Review, Josha Bardwell \\
+https://www.youtube.com/watch?v=xTurdXkSJsg
+Comparative Review, Pawel Spychowski \\
+https://quadmeup.com/what-is-the-best-flight-controller-firmware-betaflight-ardupilot-or-inav/
+PID Tuning
+==== ArduPilot ====
+hardware : Pixhawk 4 mini, and GPS module
+First Experience
+https://www.youtube.com/watch?v=0DnflN9C3cc
+Mission Planner software to configure ArduPilot
+development began on Arduino
+Ardupilot FPB with DJI \\
+How to setup Arduino \\
+https://www.youtube.com/watch?v=k8GC1UFGVos
+with DJI
+F745, F765, or F405
+S lithium ion
+ArduPilot used MAVLink
+Tracer and Crossfire
+INAV loiter is really good, but ArduPilot is better
+surveilance
+EKF 3, Extended Kalman Filter
+INAV and Betaflight have horizon inertial drift, ArduPilot does not
+receiver, crossfire, MAVLink
+motor mixer
+inch drone
+autotune
+PID tune
+OSD = on screen display, telemetry data laid over the video feed, similar to HUD
+CRSF = crossfire, proprietary two-way radio by Team Blacksheep, from controller to drone
+===== Intro =====
 How do you fly a drone from a program?
@@ Line 29: / Line 108: @@
   *  Arduino
   *  Raspberry Pi
-  *  Jetson Nano
+  *  Jetson Nano (Nvidia)
+  * Manifold 2 (DJI)
@@ Line 90: / Line 170: @@
 ===== QGroundControl =====
 https://docs.qgroundcontrol.com/master/en/index.html
+vehicle must be running ArduPilot or PX4
 ===== Robot Operating System (ROS) =====
@@ Line 98: / Line 181: @@
 RTOS is a category, ROS is a specific product.
-===== DJI SDK's =====
-DJI Ground Control products run on Android and IOS. \\
+===== DJI Software =====
-Five SDK's are available to facilitate development of these apps.
+==== Onboard ====
+Manifold 2 - processor mounted on higher-end DJI drones
+  * Released in Nov 2015
+  * ARM chip plus Nvidia GPU
+  * Runs Ubuntu Linux
+SDK's
   * Onboard SDK (OSDK)
     * https://developer.dji.com/onboard-sdk/documentation/introduction/homepage.html
   * Payload SDK
     * evidently an extension of the Onboard SDK
-    * "payload" refers to additional hardware attached to the drone for specific tasks
+    * "payload" refers to additional hardware attached to the drone for specific tasks:
       * camera and gimbal
       * spotlight
       * sensors and detectors
       * companion computer
+==== Offboard ====
+DJI Ground Control products run on Android and IOS. \\
+SDK's
   * Mobile SDK
     * used for developing Ground Station apps for IOS and Android
     * as of 11 July 2022, discontinuing new dev for IOS, focusing on Android
     * includes UX SDK
   * UX SDK
     * included in Mobile SDK v4.0 and later
     * three components: Widget, Collection, Panel
   * Windows SDK
     * evidently a port of the Mobile SDK to Windows
-    * support Mavic 2 and Mavic Air (Wifi mode)
+    * supports only Mavic 2 and Mavic Air Wifi mode
-===== Onboard Computer =====
+Here is a video made by a company that builds custom apps using DJI SDKs.
-Manifold 2, used by DJI
+https://www.youtube.com/watch?v=2uy7j_3oTQA
 ===== software stack =====