Autonomous Flight

Program drones for fully autonomous missions using flight controllers, companion computers, and AI-powered decision-making systems.

Flight Controller Ecosystem

Autonomous Mission with MAVSDK

import asyncio
from mavsdk import System
from mavsdk.mission import MissionItem, MissionPlan

async def run_mission():
    drone = System()
    await drone.connect(system_address="udp://:14540")

    # Wait for connection
    async for state in drone.core.connection_state():
        if state.is_connected:
            print("Drone connected!")
            break

    # Define mission waypoints
    mission_items = [
        MissionItem(47.397742, 8.545594, 25, 10,
                    True, float('nan'), float('nan'),
                    MissionItem.CameraAction.NONE,
                    float('nan'), float('nan'), float('nan'),
                    float('nan'), float('nan'),
                    MissionItem.VehicleAction.NONE),
        MissionItem(47.397900, 8.545800, 25, 10,
                    True, float('nan'), float('nan'),
                    MissionItem.CameraAction.TAKE_PHOTO,
                    float('nan'), float('nan'), float('nan'),
                    float('nan'), float('nan'),
                    MissionItem.VehicleAction.NONE),
    ]

    mission_plan = MissionPlan(mission_items)
    await drone.mission.upload_mission(mission_plan)

    # Arm and start mission
    await drone.action.arm()
    await drone.mission.start_mission()

    # Monitor progress
    async for progress in drone.mission.mission_progress():
        print(f"Mission progress: {progress.current}/{progress.total}")
        if progress.current == progress.total:
            break

    # Return to launch
    await drone.action.return_to_launch()

asyncio.run(run_mission())

GPS-Denied Navigation

When GPS is unavailable (indoors, urban canyons, jamming), drones must rely on alternative navigation:

Offboard Control Mode

Offboard mode allows a companion computer to send real-time position, velocity, or attitude commands to the flight controller:

async def offboard_control(drone):
    """Control drone position from companion computer."""
    from mavsdk.offboard import PositionNedYaw, OffboardError

    # Set initial setpoint before starting offboard mode
    await drone.offboard.set_position_ned(
        PositionNedYaw(0.0, 0.0, -5.0, 0.0)
    )
    await drone.offboard.start()

    # Fly a square pattern
    positions = [
        PositionNedYaw(5.0, 0.0, -5.0, 0.0),
        PositionNedYaw(5.0, 5.0, -5.0, 90.0),
        PositionNedYaw(0.0, 5.0, -5.0, 180.0),
        PositionNedYaw(0.0, 0.0, -5.0, 270.0),
    ]

    for pos in positions:
        await drone.offboard.set_position_ned(pos)
        await asyncio.sleep(5)