User:Kitae Kim

Imporove MAVLink integration of Kirogi

The Kirogi is Ground Control Station for controlling unmanned vehicles like drones.

Currently, Kirogi dose not support all standards of MAVLink protocol, which is mostly used protocol between GCS and drones.

The goal of project is that improve MAVLink protocol ingeration of Kirogi so that it supports most functionalities of the MAVLink protocol.

Mentors: Tomaz Canabrava, Eike Hein, Patrick José Pereira, Sung Jae Cho

Work reports

Work report 01

Brief description

Period: 04.17 ~ 06.14

Topics:

Command queue
Bug fix
Heartbeat
Multi-vehicle support
Plugin for GUI

The command protocol, one of MAVLink subprotocols, specifies that commands must be acknowledged by ack message. So i implemented command queue to store commands and send repeatedly until it gets acknowledged.

I found minor bug in Kirogi's plugin system. Kirogi used deprecated function to load plugins.

I'm trying to support all functionalities of heartbeat protocol. this is still WIP.

And i'm also trying to make Kirogi support multiple vehicles at the same time. (the protocol supports up to 255 vehicles)

Most challenging thing in this period was GUI element plugin. I need to load GUI elements for Mission Planner, Vehicle Configuration in runtime. It seemed easy at first glance but i felt that most ways to approach makes codebase dirty. Tomaz and Patrick implemented POC for that and waiting for review. So i will try to find best way to implement it and help them.

Accepted commits

d63efbf54e1726d0ea07d25dc5c76295f0c7a04a
b19d034b204c73849793fd824270cd897911cea6
15b48b52ef3e80bf3d2e14031623bbd11c9b2c6c
0d9d7fe32a6c0eaed32770b50de5e36496caad06

Personal commits

2f70d1a2b563ae70e9cba016fba1c15e9e0137eb
2dbaa3d96288b7768094fc84203d2d44e7b26689
2307ac6929597c3d5b8902bf861e5cdc4bd712a3
f9aabb2f86ef57468e02bf4eb555321674e3facb
44f77d7e259e00778b58c2f1f0cb48d89a8b3142
...