Drones for Efficient Fertilization Monitoring - DEF

Autonomous drone based classification of ammonia emissions from fertilizers

AdvancedWork in progressOver 4 days2,043

Things used in this project

Hardware components

Bosch Evaluation Kit Board BME688
×10
NXP NAVQPlus
×1
RDDRONE-FMUK66
NXP RDDRONE-FMUK66
×1
NXP KIT-HGDRONEK66
×1
TeraRanger Evo 60m
×1
QT Py
Adafruit QT Py
×1
LiPo 1S 3000 mAh
×3

Software apps and online services

PX4
PX4
QGroundControl
PX4 QGroundControl
MAVLink
PX4 MAVLink
MAVSDK
PX4 MAVSDK
Fusion 360
Autodesk Fusion 360
Ultimaker Cura
Arduino IDE
Arduino IDE
Thonny
Bosch AI Studio
Bosch Sensortec Environmental Cluster (BSEC)
MATLAB
MATLAB

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)
Soldering iron (generic)
Soldering iron (generic)

Story

Read more

Custom parts and enclosures

Bracket 2xLiPo

QTPy_and_voltage_divider_lid

BME688 DevKit case

BME688 DevKit case lid

Bracket LiPo

Terabee_and_Google_Coral_bracket

QTPy_and_voltage_divider_case

Schematics

Labling Schematic

This is a prototype of the schematic for the labeling circuit. The amount of the BME688 DevKits and the used GPIO-Pins of the QT Py RP2040 board can vary.

Code

Button_trigger.py

Python
#!/usr/bin/env python3

"""
Hardware: NAVQ plus and RDDRON-FMUK66
Connection: NAVQ UART3 (/dev/ttymxc2)

The aim of this program is to evaluate and process mavlink data sets in order to enable the saving of localization data and photos in 2 different cases. 
In the context of the Hovergame 3 

The NAVQ+ and FMU are connected via UART. There are two buttons on the remote controle. Button associated with channel 9 should trigger an event. 
Therefore the output of the RC channel 9 is forwareded to the FMU PWM Pin5 in the remote control settings of the FMU. 
There are MAVLink Messges for the RC-raw values and the PWM-raw output. Bothe could be analysed for triggering the event. 
The trigger should only be set if the drone is armed. The Raw Servo output would only change value in armed state but the 
rc channel outputs the incoming data directly. therefore the easy way is using the servo channel. 

In case the Drone flys outonomous, there is a possiblity to check either for the flightplan status to trigger an event or set a 
pwm signal as part of a flightplan. Thus this is not implemented yet.

If the Event is triggered, the last received Location is saved and a photo is taken via the Google Coral Cam. Every picture is saved with a timecode 
which is the same as in the logfile. 

Author Joscha Siewert 
"""

# import module
from pymavlink import mavutil
from datetime import datetime
import cv2
import os
import pwd
import csv


def get_username():
    return pwd.getpwuid(os.getuid())[0]


user = get_username()
basepath = f'/home/{user}/hovergames/images/'
# check if basepath is exisiting else create it
if not os.path.exists(basepath):
    os.makedirs(basepath)

fields = ['Timestamp', 'Photoname', 'time_usec', 'fix_type', 'lat',
          'lon', 'alt', 'eph', 'epv', 'vel', 'cog', 'satellites_visible']
# check if  photolog exists:
logfilename = f'{basepath}photolog.csv'
if not os.path.isfile(logfilename):
    with open(logfilename, 'w') as csvfile:
        filewriter = csv.writer(csvfile)
        filewriter.writerow(fields)


# open Video Capture device (google Coral Camera)
cap = cv2.VideoCapture(
    'v4l2src device=/dev/video3 ! video/x-raw,framerate=30/1,width=640,height=480 ! appsink', cv2.CAP_GSTREAMER)
if not cap.isOpened():
    raise Exception("Could not open video device")


# get starting Time of Script
current_datetime = datetime.now()
str_current_datetime = str(current_datetime)
print(f"Hello there: {str_current_datetime}")

button_pressed = False		# debounce input
# dict entry element which is read
trigger_button = "servo5_raw"  # "chan9_raw" #"servo5_raw"
time_key = "time_usec"  # "time_boot_ms" #"time_usec"
# MAVLInk Message type to be analysed
trigger_msg_type = "SERVO_OUTPUT_RAW"  # 'RC_CHANNELS'#'SERVO_OUTPUT_RAW':
# dummy heartbeat dict
last_heartbet = {'mavpackettype': 'HEARTBEAT', 'type': 2, 'autopilot': 12,
                 'base_mode': 81, 'custom_mode': 131072, 'system_status': 3, 'mavlink_version': 3}

# Start a connection listening on a UDP port
the_connection = mavutil.mavlink_connection("/dev/ttymxc2", baud=921600)
# Wait for the first heartbeat
#   This sets the system and component ID of remote system for the link
the_connection.wait_heartbeat()
print("Heartbeat from system (system %u component %u)" %
      (the_connection.target_system, the_connection.target_component))

# Once connected, use 'the_connection' to get and send messages
while True:
    msg = the_connection.recv_match()
    if not msg:
        continue
    if msg.get_type() == 'HEARTBEAT':
        new_heartbeat = msg.to_dict()
        # check if armed state has changed
        if new_heartbeat["system_status"] != last_heartbet["system_status"]:
            if new_heartbeat["system_status"] == 4:
                print("armed")
            else:
                print("disarmed")
        last_heartbet = new_heartbeat

# receive trigger Message Mavlink
    if msg.get_type() == trigger_msg_type:
        msg_dict = msg.to_dict()
        # check if trigger condition is reached for the first time
        if msg_dict[trigger_button] > 1900 and not button_pressed:
            time1 = msg_dict[time_key]  # get mavlink timestamp from Mavlink
            print(f"{time1}: button pressed!! \nat: {last_gps_raw_int}")
            button_pressed = True
        # get timestamp for filename:
            current_datetime = datetime.now()
            str_current_datetime = str(current_datetime)
            file_name = str_current_datetime+".txt"
        # take picture:
            result, image = cap.read()
            if result:
                path = f"/home/user/hovergames/images/{str_current_datetime}.png"
                status = cv2.imwrite(path, image)
                print("Image written to file-system : ", status)
                elements = [str_current_datetime, f'{str_current_datetime}.png', last_gps_raw_int['time_usec'], last_gps_raw_int['fix_type'], last_gps_raw_int['lat'], last_gps_raw_int['lon'],
                            last_gps_raw_int['alt'], last_gps_raw_int['eph'], last_gps_raw_int['epv'], last_gps_raw_int['vel'], last_gps_raw_int['cog'], last_gps_raw_int['satellites_visible']]
                with open(logfilename, 'a+', newline='') as csvfile:
                    filewriter = csv.writer(csvfile)
                    filewriter.writerow(elements)
            else:
                print("No image detected. Please! try again")
                elements = [str_current_datetime, f'NO_IMAGE', last_gps_raw_int['time_usec'], last_gps_raw_int['fix_type'], last_gps_raw_int['lat'], last_gps_raw_int['lon'],
                            last_gps_raw_int['alt'], last_gps_raw_int['eph'], last_gps_raw_int['epv'], last_gps_raw_int['vel'], last_gps_raw_int['cog'], last_gps_raw_int['satellites_visible']]
                with open(logfilename, 'a+', newline='') as csvfile:
                    filewriter = csv.writer(csvfile)
                    filewriter.writerow(elements)
        if msg_dict[trigger_button] <= 1900 and button_pressed:
            time2 = msg_dict[time_key]
            button_pressed = False
            diff = float(time2)-float(time1)
            print(f"{time2}: button released after: {diff}")

    if msg.get_type() == 'GPS_RAW_INT':
        last_gps_raw_int = msg.to_dict()
  

Data Labeling

MicroPython
from machine import Pin, time_pulse_us
from time import sleep

pin_input = Pin(29, mode = Pin.IN) 	#A0 connected to PWM channel 5 of the FMU
pin_label = Pin(28, mode = Pin.OUT) 	#output pin A1 connected to GPIO7 from DevKits

pin_label.high()

#Checks to see if the duty cyle changes. If so, sets the output pin to GND.

while True: 
    value = time_pulse_us(pin_input, 1)
    
    if value > 1100:			
        pin_label.low()
        sleep(1)
    else:
        pin_label.high()
    sleep(0.1)

QGC_terrain_following_setup.params

Plain text
# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Multi-Rotor
# Version: 1.13.2 
# Git Revision: 46a12a09bf000000
#
# Vehicle-Id Component-Id Name Value Type
1	1	ASPD_SCALE_1	1.000000000000000000	9
1	1	BAT1_A_PER_V	15.391030311584472656	9
1	1	BAT1_CAPACITY	-1.000000000000000000	9
1	1	BAT1_I_CHANNEL	-1	6
1	1	BAT1_N_CELLS	4	6
1	1	BAT1_R_INTERNAL	-1.000000000000000000	9
1	1	BAT1_SOURCE	0	6
1	1	BAT1_V_CHANNEL	-1	6
1	1	BAT1_V_CHARGED	4.050000190734863281	9
1	1	BAT1_V_DIV	10.177939414978027344	9
1	1	BAT1_V_EMPTY	3.500000000000000000	9
1	1	BAT1_V_LOAD_DROP	0.300000011920928955	9
1	1	BATMON_DRIVER_EN	0	6
1	1	BAT_AVRG_CURRENT	15.000000000000000000	9
1	1	BAT_CRIT_THR	0.070000000298023224	9
1	1	BAT_EMERGEN_THR	0.050000000745058060	9
1	1	BAT_LOW_THR	0.150000005960464478	9
1	1	BAT_N_CELLS	3	6
1	1	BAT_V_CHARGED	4.050000190734863281	9
1	1	BAT_V_EMPTY	3.500000000000000000	9
1	1	BAT_V_LOAD_DROP	0.300000011920928955	9
1	1	BAT_V_OFFS_CURR	0.000000000000000000	9
1	1	CAL_ACC0_ID	5373970	6
1	1	CAL_ACC0_PRIO	50	6
1	1	CAL_ACC0_ROT	-1	6
1	1	CAL_ACC0_XOFF	0.006068766117095947	9
1	1	CAL_ACC0_XSCALE	0.981664955615997314	9
1	1	CAL_ACC0_YOFF	-0.006041247397661209	9
1	1	CAL_ACC0_YSCALE	1.001571893692016602	9
1	1	CAL_ACC0_ZOFF	0.086009263992309570	9
1	1	CAL_ACC0_ZSCALE	0.996346652507781982	9
1	1	CAL_ACC1_ID	0	6
1	1	CAL_ACC2_ID	0	6
1	1	CAL_ACC3_ID	0	6
1	1	CAL_AIR_CMODEL	0	6
1	1	CAL_AIR_TUBED_MM	1.500000000000000000	9
1	1	CAL_AIR_TUBELEN	0.200000002980232239	9
1	1	CAL_BARO0_ID	0	6
1	1	CAL_BARO1_ID	0	6
1	1	CAL_BARO2_ID	0	6
1	1	CAL_BARO3_ID	0	6
1	1	CAL_GYRO0_ID	5505042	6
1	1	CAL_GYRO0_PRIO	50	6
1	1	CAL_GYRO0_ROT	-1	6
1	1	CAL_GYRO0_XOFF	0.002478350419551134	9
1	1	CAL_GYRO0_YOFF	-0.000582255248446018	9
1	1	CAL_GYRO0_ZOFF	-0.001908736303448677	9
1	1	CAL_GYRO1_ID	0	6
1	1	CAL_GYRO2_ID	0	6
1	1	CAL_GYRO3_ID	0	6
1	1	CAL_MAG0_ID	4395025	6
1	1	CAL_MAG0_PRIO	50	6
1	1	CAL_MAG0_ROT	-1	6
1	1	CAL_MAG0_XCOMP	0.000000000000000000	9
1	1	CAL_MAG0_XODIAG	0.000000000000000000	9
1	1	CAL_MAG0_XOFF	0.000000000000000000	9
1	1	CAL_MAG0_XSCALE	1.000000000000000000	9
1	1	CAL_MAG0_YCOMP	0.000000000000000000	9
1	1	CAL_MAG0_YODIAG	0.000000000000000000	9
1	1	CAL_MAG0_YOFF	0.000000000000000000	9
1	1	CAL_MAG0_YSCALE	1.000000000000000000	9
1	1	CAL_MAG0_ZCOMP	0.000000000000000000	9
1	1	CAL_MAG0_ZODIAG	0.000000000000000000	9
1	1	CAL_MAG0_ZOFF	0.000000000000000000	9
1	1	CAL_MAG0_ZSCALE	1.000000000000000000	9
1	1	CAL_MAG1_ID	396809	6
1	1	CAL_MAG1_PRIO	75	6
1	1	CAL_MAG1_ROT	10	6
1	1	CAL_MAG1_XCOMP	0.000000000000000000	9
1	1	CAL_MAG1_XODIAG	0.000000000000000000	9
1	1	CAL_MAG1_XOFF	0.000000000000000000	9
1	1	CAL_MAG1_XSCALE	1.000000000000000000	9
1	1	CAL_MAG1_YCOMP	0.000000000000000000	9
1	1	CAL_MAG1_YODIAG	0.000000000000000000	9
1	1	CAL_MAG1_YOFF	0.000000000000000000	9
1	1	CAL_MAG1_YSCALE	1.000000000000000000	9
1	1	CAL_MAG1_ZCOMP	0.000000000000000000	9
1	1	CAL_MAG1_ZODIAG	0.000000000000000000	9
1	1	CAL_MAG1_ZOFF	0.000000000000000000	9
1	1	CAL_MAG1_ZSCALE	1.000000000000000000	9
1	1	CAL_MAG2_ID	0	6
1	1	CAL_MAG2_ROT	-1	6
1	1	CAL_MAG3_ID	0	6
1	1	CAL_MAG3_ROT	-1	6
1	1	CAL_MAG_COMP_TYP	0	6
1	1	CAL_MAG_ROT_AUTO	1	6
1	1	CAL_MAG_SIDES	63	6
1	1	CAM_CAP_FBACK	0	6
1	1	CBRK_AIRSPD_CHK	0	6
1	1	CBRK_BUZZER	0	6
1	1	CBRK_ENGINEFAIL	284953	6
1	1	CBRK_FLIGHTTERM	121212	6
1	1	CBRK_IO_SAFETY	22027	6
1	1	CBRK_RATE_CTRL	0	6
1	1	CBRK_SUPPLY_CHK	0	6
1	1	CBRK_USB_CHK	197848	6
1	1	CBRK_VELPOSERR	0	6
1	1	CBRK_VTOLARMING	0	6
1	1	COM_ARM_AUTH_ID	10	6
1	1	COM_ARM_AUTH_MET	0	6
1	1	COM_ARM_AUTH_REQ	0	6
1	1	COM_ARM_AUTH_TO	1.000000000000000000	9
1	1	COM_ARM_CHK_ESCS	0	6
1	1	COM_ARM_EKF_HGT	1.000000000000000000	9
1	1	COM_ARM_EKF_POS	0.500000000000000000	9
1	1	COM_ARM_EKF_VEL	0.500000000000000000	9
1	1	COM_ARM_EKF_YAW	0.500000000000000000	9
1	1	COM_ARM_IMU_ACC	0.699999988079071045	9
1	1	COM_ARM_IMU_GYR	0.250000000000000000	9
1	1	COM_ARM_MAG_ANG	45	6
1	1	COM_ARM_MAG_STR	2	6
1	1	COM_ARM_MIS_REQ	0	6
1	1	COM_ARM_SDCARD	1	6
1	1	COM_ARM_SWISBTN	1	6
1	1	COM_ARM_WO_GPS	1	6
1	1	COM_BAT_ACT_T	10.000000000000000000	9
1	1	COM_CPU_MAX	90.000000000000000000	9
1	1	COM_DISARM_LAND	2.000000000000000000	9
1	1	COM_DISARM_PRFLT	10.000000000000000000	9
1	1	COM_DL_LOSS_T	10	6
1	1	COM_EF_C2T	5.000000000000000000	9
1	1	COM_EF_THROT	0.500000000000000000	9
1	1	COM_EF_TIME	10.000000000000000000	9
1	1	COM_FLIGHT_UUID	350	6
1	1	COM_FLTMODE1	0	6
1	1	COM_FLTMODE2	-1	6
1	1	COM_FLTMODE3	-1	6
1	1	COM_FLTMODE4	1	6
1	1	COM_FLTMODE5	-1	6
1	1	COM_FLTMODE6	2	6
1	1	COM_FLT_PROFILE	0	6
1	1	COM_FORCE_SAFETY	0	6
1	1	COM_HLDL_LOSS_T	120	6
1	1	COM_HLDL_REG_T	0	6
1	1	COM_HOME_EN	1	6
1	1	COM_HOME_IN_AIR	0	6
1	1	COM_IMB_PROP_ACT	0	6
1	1	COM_KILL_DISARM	5.000000000000000000	9
1	1	COM_LKDOWN_TKO	3.000000000000000000	9
1	1	COM_LOW_BAT_ACT	0	6
1	1	COM_MOT_TEST_EN	1	6
1	1	COM_OBC_LOSS_T	5.000000000000000000	9
1	1	COM_OBL_ACT	0	6
1	1	COM_OBL_RC_ACT	0	6
1	1	COM_OBS_AVOID	0	6
1	1	COM_OF_LOSS_T	1.000000000000000000	9
1	1	COM_PARACHUTE	0	6
1	1	COM_POSCTL_NAVL	0	6
1	1	COM_POS_FS_DELAY	1	6
1	1	COM_POS_FS_EPH	5.000000000000000000	9
1	1	COM_POS_FS_EPV	10.000000000000000000	9
1	1	COM_POWER_COUNT	1	6
1	1	COM_PREARM_MODE	0	6
1	1	COM_QC_ACT	0	6
1	1	COM_RCL_ACT_T	15.000000000000000000	9
1	1	COM_RCL_EXCEPT	0	6
1	1	COM_RC_ARM_HYST	1000	6
1	1	COM_RC_IN_MODE	3	6
1	1	COM_RC_LOSS_T	0.500000000000000000	9
1	1	COM_RC_OVERRIDE	1	6
1	1	COM_RC_STICK_OV	30.000000000000000000	9
1	1	COM_TAKEOFF_ACT	0	6
1	1	COM_VEL_FS_EVH	1.000000000000000000	9
1	1	COM_WIND_WARN	-1.000000000000000000	9
1	1	CP_DELAY	0.400000005960464478	9
1	1	CP_DIST	-1.000000000000000000	9
1	1	CP_GO_NO_DATA	0	6
1	1	CP_GUIDE_ANG	30.000000000000000000	9
1	1	EKF2_ABIAS_INIT	0.200000002980232239	9
1	1	EKF2_ABL_ACCLIM	25.000000000000000000	9
1	1	EKF2_ABL_GYRLIM	3.000000000000000000	9
1	1	EKF2_ABL_LIM	0.400000005960464478	9
1	1	EKF2_ABL_TAU	0.500000000000000000	9
1	1	EKF2_ACC_B_NOISE	0.003000000026077032	9
1	1	EKF2_ACC_NOISE	0.349999994039535522	9
1	1	EKF2_AID_MASK	1	6
1	1	EKF2_ANGERR_INIT	0.100000001490116119	9
1	1	EKF2_ARSP_THR	0.000000000000000000	9
1	1	EKF2_ASPD_MAX	20.000000000000000000	9
1	1	EKF2_ASP_DELAY	100.000000000000000000	9
1	1	EKF2_AVEL_DELAY	5.000000000000000000	9
1	1	EKF2_BARO_DELAY	0.000000000000000000	9
1	1	EKF2_BARO_GATE	5.000000000000000000	9
1	1	EKF2_BARO_NOISE	3.500000000000000000	9
1	1	EKF2_BCOEF_X	100.000000000000000000	9
1	1	EKF2_BCOEF_Y	100.000000000000000000	9
1	1	EKF2_BETA_GATE	5.000000000000000000	9
1	1	EKF2_BETA_NOISE	0.300000011920928955	9
1	1	EKF2_DECL_TYPE	7	6
1	1	EKF2_DRAG_NOISE	2.500000000000000000	9
1	1	EKF2_EAS_NOISE	1.399999976158142090	9
1	1	EKF2_EVA_NOISE	0.050000000745058060	9
1	1	EKF2_EVP_GATE	5.000000000000000000	9
1	1	EKF2_EVP_NOISE	0.100000001490116119	9
1	1	EKF2_EVV_GATE	3.000000000000000000	9
1	1	EKF2_EVV_NOISE	0.100000001490116119	9
1	1	EKF2_EV_DELAY	175.000000000000000000	9
1	1	EKF2_EV_NOISE_MD	0	6
1	1	EKF2_EV_POS_X	0.000000000000000000	9
1	1	EKF2_EV_POS_Y	0.000000000000000000	9
1	1	EKF2_EV_POS_Z	0.000000000000000000	9
1	1	EKF2_FUSE_BETA	0	6
1	1	EKF2_GBIAS_INIT	0.100000001490116119	9
1	1	EKF2_GND_EFF_DZ	4.000000000000000000	9
1	1	EKF2_GND_MAX_HGT	0.500000000000000000	9
1	1	EKF2_GPS_CHECK	245	6
1	1	EKF2_GPS_DELAY	110.000000000000000000	9
1	1	EKF2_GPS_POS_X	0.000000000000000000	9
1	1	EKF2_GPS_POS_Y	0.000000000000000000	9
1	1	EKF2_GPS_POS_Z	0.000000000000000000	9
1	1	EKF2_GPS_P_GATE	5.000000000000000000	9
1	1	EKF2_GPS_P_NOISE	0.500000000000000000	9
1	1	EKF2_GPS_V_GATE	5.000000000000000000	9
1	1	EKF2_GPS_V_NOISE	0.300000011920928955	9
1	1	EKF2_GSF_TAS	15.000000000000000000	9
1	1	EKF2_GYR_B_NOISE	0.001000000047497451	9
1	1	EKF2_GYR_NOISE	0.014999999664723873	9
1	1	EKF2_HDG_GATE	2.599999904632568359	9
1	1	EKF2_HEAD_NOISE	0.300000011920928955	9
1	1	EKF2_HGT_MODE	2	6
1	1	EKF2_IMU_POS_X	0.000000000000000000	9
1	1	EKF2_IMU_POS_Y	0.000000000000000000	9
1	1	EKF2_IMU_POS_Z	0.000000000000000000	9
1	1	EKF2_MAG_ACCLIM	0.500000000000000000	9
1	1	EKF2_MAG_B_NOISE	0.000099999997473788	9
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1	1	EKF2_MAG_DECL	2.688940763473510742	9
1	1	EKF2_MAG_DELAY	0.000000000000000000	9
1	1	EKF2_MAG_E_NOISE	0.001000000047497451	9
1	1	EKF2_MAG_GATE	3.000000000000000000	9
1	1	EKF2_MAG_NOISE	0.050000000745058060	9
1	1	EKF2_MAG_TYPE	0	6
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1	1	EKF2_MCOEF	0.150000005960464478	9
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1	1	EKF2_MULTI_MAG	0	6
1	1	EKF2_NOAID_NOISE	10.000000000000000000	9
1	1	EKF2_NOAID_TOUT	5000000	6
1	1	EKF2_OF_DELAY	20.000000000000000000	9
1	1	EKF2_OF_GATE	3.000000000000000000	9
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1	1	EKF2_OF_POS_X	0.000000000000000000	9
1	1	EKF2_OF_POS_Y	0.000000000000000000	9
1	1	EKF2_OF_POS_Z	0.000000000000000000	9
1	1	EKF2_OF_QMIN	1	6
1	1	EKF2_PCOEF_XN	0.000000000000000000	9
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1	1	EKF2_PCOEF_YN	0.000000000000000000	9
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1	1	EKF2_PCOEF_Z	0.000000000000000000	9
1	1	EKF2_PREDICT_US	10000	6
1	1	EKF2_REQ_EPH	3.000000000000000000	9
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BSEC 2 Library Pull Request

PR with the changes in the labeling code.

DEF HoverGames Challenge 3 Repository

This repository includes the code we've used in the project.

Forked Repository of the PX4 Autopilot

This is the forked repository of the PX4 Autopilot. The code doesn't include any changes to the original so no pull request can be done.

Credits

Raphael Parsiegel

Raphael Parsiegel

1 project • 3 followers
Joscha Siewert

Joscha Siewert

0 projects • 3 followers
Lino Feldmann

Lino Feldmann

0 projects • 3 followers
Marion Gebhard

Marion Gebhard

0 projects • 1 follower
Miguel Budag Becker

Miguel Budag Becker

0 projects • 2 followers

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