UAV Mission Planner

Description

The package provides some mission planning functionality for dealing with Unmanned Aerial Vehicles. The focus is set on an easy to use workflow for planning autonomous obstacle avoiding surveys of rtf-UAVs to retrieve aerial or spot related data. It provides either intermediate flight control files for the DJI Litchi compatible UAVs or ready to upload control files for the pixhawk based flightcontroller as used in the Yuneec H520 or the outdated 3DR Solo. Additionally it contains some useful tools for digitizing and data manipulation.

Details

The package provides some mission planning functionality for dealing with Unmanned Aerial Vehicles

Note

It is important to keep in mind that all auxilliary external binaries like GDAL or SAGA need to be installed properly. correctly on your system.

Author(s)

Chris Reudenbach Lars Opgenoorth Sebastian Richter Florian Detsch Hanna Meyer Marvin Ludwig
Maintainer: Chris Reudenbach reudenbach@uni-marburg.de

See Also

Useful links:

• https://github.com/gisma/uavRmp

• Report bugs at https://github.com/gisma/uavRmp/issues

copyDir

Description

copyDir copy all image data to the corresponding folder

Usage

copyDir(fromDir, toProjDir, pattern = "*")

Arguments

Select UAV Images Information

Description

extract all and returns specific exif information from a list of images

Usage

extractExifr(path)

Arguments

Value

data.frame of image positions and travel distance

fixGPSAlt

Description

fixes broken GPS altitudes in the exif data of DJI images with the given differen value

Usage

fixGPSAlt(path, diff, camType = "YUN")

Arguments

Examples

## Not run: 

picFN <- system.file("extdata", "dji.jpg", package = "uavRmp")


## End(Not run)

getGPSAltDiff

Description

extract the difference of the exif GPS aLtitude tag and a given DEM altitude at this point

Usage

getGPSAltDiff(picPath, demPath)

Arguments

Examples

## Not run: 
demFN <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
picFN <- system.file("extdata", "dji.jpg", package = "uavRmp")


## End(Not run)

Defines and creates folders and variables

Description

Defines and creates (if necessary) all folders variables set the SAGA path variables and other system variables exports all variables to the global environment

Usage

initProj(
  projRootDir = getwd(),
  projFolders = c("log/", "control/", "run/", "data/")
)

Arguments

UAV Mission Planning tool for autonomous monitoring flight tasks with respect to DSM/DEM, orthophoto data retrieval.

Description

The basic idea is to provide an easy to use workflow for controlling rtf-UAVs for planning autonomous surveys to retrieve aerial data sets.

Usage

makeAP(
  projectDir = tempdir(),
  locationName = "flightArea",
  surveyArea = NULL,
  flightAltitude = 100,
  launchAltitude = NULL,
  followSurface = FALSE,
  followSurfaceRes = 25,
  demFn = NULL,
  noFiles = 1,
  altFilter = 1,
  horizonFilter = 30,
  flightPlanMode = "track",
  useMP = FALSE,
  presetFlightTask = "remote",
  overlap = 0.8,
  maxSpeed = 20,
  maxFlightTime = 10,
  picRate = 2,
  windCondition = 0,
  uavType = "pixhawk",
  cameraType = "MAPIR2",
  buf_mult = 1.5,
  cmd = 16,
  uavViewDir = 0,
  maxwaypoints = 9999,
  above_ground = FALSE,
  djiBasic = c(0, 0, 0, -90, 0),
  dA = FALSE,
  picFootprint = FALSE,
  rcRange = NULL,
  copy = FALSE,
  runDir = tempdir(),
  gdalLink = NULL
)

Arguments

Details

makeAP (make aerial plan) creates either intermediate flight control files for the DJI phantom x UAVs or ready to upload control files for the 3DR Solo/PixHawk flight controller. The DJI control files are designed for using with the proprietary litchi flight control app exchange format, while the 3DR Solo/PixHawk flight controller files are using the MAVLINK common message set, that is used by the PixHawk flight controller family. Both are implemented very rudimentary.

DJI:
The reason using DJI is their absolute straightforward usage. Everybody can fly with a DJI but the price is a more or less closed system at least in the low budget segment. There are workarounds like the litchi app that provides additionally to a cloud based mission planner an offline/standalone interface to upload a CSV formatted way point file for autonomous flights to the Phantom.

PixHawk flight controller/3DR Solo:
The open UAV community is focused on the PixHawk autopilot unit and the Mission Planner software. It is well documented and several APIs are provided. Nevertheless a high resolution terrain following flight planning tool for autonomous obstacle avoiding flight missions is not available. makeAP creates a straightforward version of MAV format flight control rules that are ready to be uploaded directly on the Pixhawk controller using the solo_upload function.

Warning

Take care! There are still a lot of construction zones around. This script is far beyond to be in a mature state. Please control and backup all controls again while planning and performing autonomous flight plans and missions. You will have a lot of chances to make a small mistake what may yield in a damage of your UAV or even worse in involving people, animals or non-cash assets. Check your risk, use parachute systems and even if it is running like a charm, keep alert!

See Also

The underlying concept, a tutorial and a field guide can be found in the package vignettes. See browseVignettes("uavRmp") or vignette(package = "uavRmp") or at Github uavRmp manual).

Examples

## Not run: 
# Depending on the arguments, the following spatial data sets can be returned:

# lp      the planned launching position of the UAV.
# wp      waypoints inclusive all information
# oDEM    the original (input) digital surface model (DSM)
# rDEM    the resampled (used) DSM
# fp      optimized footprints of the camera
# fA      flight area with at least 2 overlaps
# rcA     area covered by the RC according to the range and line of sight

## for visualisation and vecDraw load mapview
require(mapview)

## (1) get example DEM data
demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
tutorial_flightArea <- system.file("extdata", "flightarea.kml", package = "uavRmp")

## (2) simple flight, 100 meters above ground
##     assuming a flat topography,

fp <- makeAP(surveyArea = tutorial_flightArea,
              demFn = demFn)
              
## (3) typical real case scenario (1)
##     A flight altitudes BELOW 50 m is ambitious and risky
##     You have to use a high quality high resulution DSM
##     (here simulated with a standard DEM)

fp <- makeAP(surveyArea=tutorial_flightArea,
          followSurface = TRUE,
          flightAltitude = 45,
          demFn = demFn,
          windCondition = 1,
          uavType = "dji_csv",cameraType = "dji32",
          followSurfaceRes = 5,
          altFilter = .75)


## (4) typical real case scenario (2)
##     A flight altitudes BELOW 50 m is ambitious and risky
##     You have to use a high quality high resolution DSM
##     (here simulated with a standard DEM)
##     NOTE All settings are taken from QGroundcontrol so adapt the survey settings according 
##          to "calc above terain" and use the "YUN90" camera tag for camera flight speed etc.
##     NOTE EXPERIMENTAL 

demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
tutorial_flightArea <- system.file("extdata", "tutdata_qgc_survey.plan", package = "uavRmp")
fp <- makeAP(surveyArea=tutorial_flightArea,
            useMP = TRUE,
            followSurface = TRUE,
            demFn = demFn,
            windCondition = 1,
            uavType = "pixhawk",
            cameraType = "YUN90",
            followSurfaceRes = 5,
             altFilter = .75)

## (5) typical real case scenario (3)
##     This examples uses a flight planning from the QGroundcotrol Survey planning tool
##     It also used the all calculations for camera flight speed etc.
##     The flight plan is modyfied by splitting up the task according to 99 Waypoints
##     and flight time and saved as litchi csv format 
##     NOTE EXPERIMENTAL tested with DJI mavic mini 2

demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
tutorial_flightArea <- system.file("extdata", "tutdata_qgc_survey.plan", package = "uavRmp")
fp <- makeAP(surveyArea=tutorial_flightArea,
            useMP = TRUE,
            demFn = demFn,
            maxFlightTime = 25,
            cameraType = "dji32",
            uavType = "dji_csv")
            
## call a simple shiny interface
shiny::runApp(system.file("shiny/plan2litchi/", "app.R", package = "uavRmp"))
        
        
## (6) view results

mapview::mapview(fp$wp,cex=4, lwd=0.5)+
mapview::mapview(fp$lp,color = "red", lwd=1,cex=4)+
mapview::mapview(fp$fA,color="blue", alpha.regions = 0.1,lwd=0.5)+
mapview::mapview(fp$oDEM,col=terrain.colors(256))



## (6) digitize flight area using the small "onboard" tool vecDraw()
##     save vectors as "kml" or "json" files
##     provide full filename  +  extension!


vecDraw(preset="uav")

## End(Not run)

Generates a variable with a certain value in the R environment

Description

Generates a variable with a certain value in the R environment

Usage

makeGlobalVar(name, value)

Arguments

Examples

## Not run: 

# creates the global var `pathToData` with the value `~/home/data`
makeGlobalVar("pathToData","~/home/data") 


## End(Not run)

Flight Track Planning tool

Description

makeTP generates a flight track chaining up point objects with respect to a heterogenous surface and known obstacles as documented by an DSM for taking top down pictures. It creates a single control file for autonomous picture retrieval flights.

Usage

makeTP(
  projectDir = tempdir(),
  locationName = "treePos",
  missionTrackList = NULL,
  launchPos = c(8.772055, 50.814689),
  demFn = NULL,
  flightAltitude = 100,
  climbDist = 7.5,
  aboveTreeAlt = 15,
  circleRadius = 1,
  takeOffAlt = 50,
  presetFlightTask = "remote",
  maxSpeed = 25,
  followSurfaceRes = 5,
  altFilter = 0.5,
  windCondition = 1,
  launchAltitude = -9999,
  uavType = "pixhawk",
  cameraType = "MAPIR2",
  copy = FALSE,
  runDir = ""
)

Arguments

Examples

## Not run: 
## (1) get example DEM data
dsmFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
## (2) make position flight plan
makeTP  <-  makeTP(missionTrackList= tutorial_flightArea,
                  demFn = dsmFn,
                  uavType = "pixhawk",
                  launchPos = c(8.679,50.856))

## End(Not run)

applies a line to a raster and returns the position of the maximum value

Description

applies a line to a raster and returns the position of the maximum value

Usage

maxpos_on_line(dem, line)

Arguments

Examples

## Not run: 
## load DEM/DSM 
dem <- terra::rast(system.file("extdata", "mrbiko.tif", package = "uavRmp"))

## generate extraction line object
line <- sp_line(c(8.66821,8.68212),c(50.83939,50.83267),ID="Highest Position",runDir=runDir)
## extract highest position
maxpos_on_line(dem,line)  

## End(Not run)

Rectangle flight area around points

Description

Creates optimal rectangle area around points

Usage

minBB(points, buffer = 0, epsg = 25832)

Arguments

Details

The code is based on a Rotating Caliper Algorithm and mostly copy and pasted (see reference)

Value

SpatialPoints: Corners of the flight area

Author(s)

Marvin Ludwig

References

http://dwoll.de/rexrepos/posts/diagBounding.html

Download, reorganize and export the binary log files from 3DR Solo Pixhawk controller or the telemetry log files from the Solo radio control unit

Description

Wraps the mavtogpx.py converter as provided by the dronkit library). It downloads and optionally converts the most important 3DR Solo logfiles. Optionally you may import the geometries and data as sp object.

Usage

soloLog(
  logFileSample = "recent",
  logSource = "rc",
  logDest = tempdir(),
  downloadOnly = FALSE,
  netWarn = FALSE,
  renameFiles = TRUE,
  makeSP = FALSE
)

Arguments

Note

for using the Solo stuff is tested only for Linux and the bash shell under Windows 10. You need to install the following python libs:
⁠sudo pip install pymavlink⁠
⁠sudo pip install dronekit-sitl⁠
⁠sudo pip install dronekit⁠

Additionally you need sshpass:
⁠sudo apt-get install sshpass⁠

And please rememeber - you need to be connected at least to a running 3DR Solo radio control and if you want to donload data from the Pixhawk to a Solo UAV

Examples

## Not run: 
## download recent telemetry log file from controller and convert it to gpx
soloLog(logFiles = "solo.tlog")

## download the last available logfile from the radio control
soloLog()

## download ALL logfiles from the radio control
soloLog(logFiles = "all")

## download ALL telemetry logfiles from the flight controller
soloLog(logSource = "pixhawk",logFiles = "all")

## download telementry logfile number 5  from the remote control
soloLog(logSource = "rc",logFiles = "5")

## End(Not run)

Upload MAV compliant mission File to a 3DR Solo

Description

solo_upload provides a crude interface to upload the Solo mission file to the 3dr SOLO

Usage

solo_upload(
  missionFile = NULL,
  connection = "udp:10.1.1.166:14550",
  prearm = "-1"
)

Arguments

Note

Becareful with fooling around with the prearm stuff. It is kind of VERY sensitive for the later autonomous flights!
For using the Solo stuff you need to install:
sudo pip install pymavlink;
sudo pip install dronekit-sitl;
sudo pip install dronekit;
sudo apt-get install sshpass
Additionally you need to be connected to a running 3DR Solo uav

Examples

wp <- system.file("extdata", "MAVLINK_waypoints.txt", package = "uavRmp")
## Not run: 
solo_upload( missionFile = wp)

## End(Not run)

create an spatiallineobject from 2 points

Description

create an spatiallineobject from 2 points, optional export as shapefile

Usage

sp_line(
  Y_coords,
  X_coords,
  ID = "ID",
  proj4 = "+proj=longlat +datum=WGS84 +no_defs",
  export = FALSE,
  runDir
)

Arguments

Examples

## Not run: 
## creating sp spatial point object
line <- sp_line(c(8.770367,8.771161,8.771536),
                c(50.815172,50.814743,50.814875),
                runDir=tempdir())

## plot it
plot(line)

## End(Not run)

create an spatialpointobject from 1 point

Description

create an spatial point object from 1 point and optionally export it as a shapefile

Usage

sp_point(
  lon,
  lat,
  ID = "point",
  proj4 = "+proj=longlat +datum=WGS84 +no_defs",
  export = FALSE,
  runDir = runDir
)

Arguments

Examples

## creating sp spatial point object
point <- sp_point(8.770362,50.815240,ID="Faculty of Geographie Marburg")

DEM data set of Marburg-Biedenkopf

Description

DEM data set resampled to 20 m resolution

Format

"terra::rast"

Details

DEM data set of Marburg-Biedenkopf

Source

⁠Faculty of Geography UAV derived data from Marburg University Forest first campaign⁠

DJI image of a survey flight

Description

DJI image of a survey flight

Format

"terra::rast"

Details

DJI image of a survey flight

Source

⁠Faculty of Geography UAV derived data from Marburg University Forest first campaign⁠

Flight area planning example data

Description

Flight area planning example data as typically needed for planning an autonomous survey flight task

Details

Flight area planning example data

Source

⁠Faculty of Geography Marburg⁠

GPX example data

Description

GPX example data as derived by a 3DR Solo flight

Details

GPX example data

Source

⁠Faculty of Geography UAV derived data from Marburg University Forest first campaign⁠

position example data

Description

position data for planning a single flight task with focus on known objects

Details

Virtual object position coordinates example data

Source

⁠Faculty of Geography UAV derived data from Marburg University Forest first campaign⁠

Flight area planning Qgroundcontrol planning file for a 100m relative to launch survey flight using a GoPro Hero4

Description

Flight area planning example data as typically needed for planning an autonomous survey flight task. The task is planned with the QGroundcontrol survey tool.

Details

Flight area planning Qgroundcontrol survey data 100 m AGL

Source

⁠Faculty of Geography Marburg⁠

Flight area planning Qgroundcontrol planning file for a 30m follow terrain survey flight with the DJI Air 2S

Description

Flight area planning example data as typically needed for planning an autonomous survey flight task. The task is planned with the QGroundcontrol survey tool.

Details

Flight area planning Qgroundcontrol survey data 30 m AGL

Source

⁠Faculty of Geography Marburg⁠

MAVLINK waypoint example data

Description

Waypoint file

Details

MAVLINK waypoint example data

Source

⁠Faculty of Geography UAV derived data from Marburg University Forest first campaign⁠

digitizing vector features using a simple leaflet base map

Description

vecDraw is designed for straightforward digitizing of simple geometries without adding attributes. It provides a bunch of leaflet base maps and optionally a sf* object can be loaded for orientation.

Usage

vecDraw(
  mapCenter = NULL,
  zoom = 15,
  line = TRUE,
  rectangle = TRUE,
  poly = TRUE,
  circle = TRUE,
  point = TRUE,
  remove = TRUE,
  position = "topright",
  maplayer = c("CartoDB.Positron", "OpenStreetMap", "Esri.WorldImagery",
    "Thunderforest.Landscape", "OpenTopoMap"),
  overlay = NULL,
  preset = "all",
  locPreset = "muf",
  cex = 10,
  lwd = 2,
  opacity = 0.7
)

Arguments

Note

Yu can either save the digitized object to a json (JS) or kml (KML) file.

Examples

## Not run: 
# fully featured without overlay
require(mapview)

# preset for digitizing uav flight areas using Meuse data set as overlay
require(sp)
data(meuse) 
sp::coordinates(meuse) <- ~x+y 
sp::proj4string(meuse) <-CRS("+init=epsg:28992") 
m <- sp::spTransform(meuse,CRSobj = sp::CRS("+init=epsg:4326"))
vecDraw(overlay = m, preset = "uav")
  
# preset for digitizing simple rectangles extents
vecDraw(preset="ext",overlay = m)

## End(Not run)