ArenaExperiment

Arena Experiment 2022
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In the first version of this experiment, the Arducopter is modified to include a new automatic flight mode. It with run integrated with a PC ground station based on MAVProxy and Dronekit Python, which publishes the states of the main drone (with pixhawk), of a tello (moving obstacle), of the reference triangle position (G of Sg), and the next waypoint for the main drone to follow. 

The Pixhawk works together with a companion computer, a Raspberry Pi 4, which implements a simple guidance module in a Python script. This module generates the position and heading commands along the time. These commands are then sent to the Ardupilot. So, the current Ardupilot version must contain a new modified flight mode with allows receiveing the position and heading commands from the Raspberry Pi.