Drone Programming with ArduPilotのトレーニングコース

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