1 Intro
goals: auto landing, auto charging, auto takeoff, fixed wing VTOL, for a security system object tracking, zoom camera
2 Frame Summary Table
defun collect-headline-data ()
("Collect data of each headline in the buffer into an alist."
'headline
(org-element-map (org-element-parse-buffer) lambda (headline)
(let ((title (org-element-property :raw-value headline))
(:level headline))
(level (org-element-property get-properties headline)))
(properties (cons (cons 'title title) properties)))))
(
defun get-properties (headline)
("Get the properties of an Org mode headline element."
let ((property-drawer (org-element-map headline 'property-drawer 'identity nil t)))
(when property-drawer
(let ((node-properties (org-element-map property-drawer 'node-property 'identity))
(
(properties '()))dolist (np node-properties)
(push (cons (org-element-property :key np) (org-element-property :value np)) properties))
(
properties))))
defun collect-all-property-keys ()
("Collect all unique property keys in the buffer."
let ((all-keys '()))
('headline
(org-element-map (org-element-parse-buffer) lambda (headline)
(let ((properties (get-properties headline)))
(dolist (prop properties)
(let ((key (car prop)))
(unless (member key all-keys)
(push key all-keys)))))))
(
all-keys))
defun generate-org-table ()
("Generate a table from Org headlines and properties."
let* ((all-keys (collect-all-property-keys))
(cons "title" all-keys))
(column-names (
(headline-data (collect-headline-data))list column-names)))
(table (dolist (headline headline-data)
(let ((row (list (cdr (assoc 'title headline)))))
(dolist (key all-keys)
(let ((value (cdr (assoc key headline))))
(push (or value "") row)))
(push (nreverse row) table)))
(nreverse table)))
(
defun find-heading (heading)
("Move point to the specified HEADING."
(goto-char (point-min))format org-complex-heading-regexp-format (regexp-quote heading)))
(re-search-forward (
(beginning-of-line))
defun parse-named-subtree (subtree-title)
("Parse the named subtree in the Org buffer."
"Subtree title: ")
(interactive
(save-excursion
(find-heading subtree-title)
(org-narrow-to-subtree)let ((table (generate-org-table)))
(
(widen)
table)))
"Frames") (parse-named-subtree
title | windresist | price | takeoffWeight | cruisingSpeed | wingspan | payload | endurance | batterywh |
---|---|---|---|---|---|---|---|---|
Nimbus VTOL | 40 | 2830 | 6 | 70 | 1800 | 0.8 | 1.3 | |
Saber-210 | 8000 | 13 | 72 | 2150 | 1 | 3 | 1536 | |
Baby Shark | 8529 | 13 | 80 | 2500 | 1 | 2 | ||
Baby Shark 260 PRO | 8729 | 13 | 80 | 2500 | 1 | 3.3 | 1296 | |
AYK-350 Heavy | 45 | 11569 | 35 | 80 | 3500 | 7kg | 2.5 |
3 Frames
3.1 TODO check
baby shark folding https://www.foxtechfpv.com/foxtech-baby-shark-260-vtol-folding-version.html looong (cheap looks good, payload near others, what’s the diff?) https://www.foxtechfpv.com/foxtech-loong-2160-vtol.html
3.2 TODO loong
3.3 DONE check saber 220
https://www.foxtechfpv.com/saber-220-vtol-delta-wing-drone.html it has 400g payload capacity but same dimensions
3.4 Baby Shark 260 PRO
2x Diamond 6s 30Ah
3.5 Nimbus VTOL
3.6 Saber-210
1x 12S 32000mAh Diamond HV Semi-Solid-State Li-ion Battery
https://www.foxtechfpv.com/foxtech-saber-210-flying-wing-vtol.html
3.7 AYK-350 Heavy
3.8 Baby Shark
2xDiamond 6S 22000mAh Battery+2x6S 5000mAh Lipo Battery
https://www.foxtechfpv.com/foxtech-baby-shark-260-vtol-folding-version.html
4 Comms
4.1 caddx vista, 3-4km video/comms by dji
4.2 herelink air unit - 1000 eur, video + comms
4k low latency 20km range, two hdmi inputs
https://docs.union-robotics.com/manuals/blue-herelink-overview#accessories
https://eu.robotshop.com/products/herelink-hd-video-transmission-system
4.2.1 DONE what’s the difference between herelink blue and herelink?
blue is “an NDAA / Blue sUAS compliant controller” https://www.suasnews.com/2021/07/herelink-blue/
seems way more expensive. uses some crypto or something? idk
“Functions the same as the CubePilot HereLink, but made in America with an industrial grade billet aluminum housing, custom US firmware/software, and US based customer support.”
so, fuck the blue?
4.2.2 TODO if we have a static AI type groundstation, how do we communicate with the air unit?
it seems that if the handheld is sharing wifi with the station we are ok. can we auto-turn on the handheld? how does this work?
4.2.3 TODO how does herelink relate to qgroundcontrol etc?
4.2.4 TODO how does this relate to atak?
5 Cameras
about 1000 eur for long range zoom gimbal it seems (check weights?) https://www.foxtechfpv.com/industrial-drone/camera-for-drones.html?___SID=U&dir=asc&order=price
5.1 SYK-10L 4K Laser Night Vision Gimbal Camera
10x optical 4x digital 739$
5.2 SYK-10L AI
1000 EUR
10X Optical Zoom 3X digital zoom Laser Night Vision AI Object Detection & Tracking
https://www.foxtechfpv.com/foxtech-syk-10l-ai-laser-night-vision-gimbal-camera.html 429g
5.3 EH314 MINI
14x zoom 1500$ 275g https://www.foxtechfpv.com/fh314-4k-3-5x-optical-zoom-camera-with-3-axis-gimbal.html
5.4 Others
839 $ https://www.foxtechfpv.com/foxtech-seeker-18-18x-optical-zoom-camera-gimbal.html
1359 $ https://www.foxtechfpv.com/seeker-30-max-30x-zoom-camera-3-axis-gimbal.html
6 Autopilot
https://www.cubepilot.com/#/ecosystem/poster/2023_Wiring_Diagram
pixhawk something for out of the box semi smart autopilot
run with companion computer for actual smart stuff, make sure that in case of companion comp we still sort of run autonomously and are able to land
7 Sensors
7.1 RTK GPS here3 or here4
just need the drone element, not the groundstation, price for v3 is around 200 and price for v4 is 250 but it didn’t come out yet
https://irlock.com/collections/cubepilot/products/here3-with-istand
https://irlock.com/collections/cubepilot
https://www.robotshop.com/products/cubepilot-here-v2-rtk-gnss-gps-m8p
7.2 Precision Landing Options
https://docs.px4.io/main/en/advanced_features/precland.html
7.2.1 IRlock
7.2.2 Camera based loiter (can we do also auto landing with it?)
seems way better for sure needs a light?
https://diydrones.com/profiles/blogs/iris-optical-flow-lidar-lite-loitering