This the the source code for VeLOS, a project that allows drones to autonomously check if a given point would provide line of sight to existing masts, if a new mast placed at that point.

You will need two (required) or three (optional) terminal windows to start the drone.

You will need to change the PX4_HOME_LAT and PX4_HOME_LON environment variables to your desired location, before running VeLOS with that location. Otherwise the drone will not be taking off from the location that it calculated distances from, and LoS will not be able to be confirmed.

Make sure to source the setup.env file before running the make command.

Assuming you are in the directory with PX4 installed, you need to run the command make px4_sitl gazebo_typhoon_h480__mcmillan_airfield

Note that __mcmillan_airfield is optional, but it provides a more realistic environment with hills/mountains.

Run the QGroundControl.AppImage file

Run python app/run_mission.py --lon <LONGITUDE> --lat <LATITUDE> to start the mission. You should be able to see the drone taking off in the Gazebo window shortly.

If you don't specify any parameters to run_mission.py, it will use the default coordinates (that matches the default coordinates from setup.env), as specified in the help command:

$ python3 run_mission.py --help
usage: run_mission.py [-h] [--lon LONGITUDE] [--lat LATITUDE]

Automatic Drone Mast LoS confirmation tool. Default location is somewhere in Langeskov (i.e., Lars Tyndskids mark)

optional arguments:
  -h, --help       show this help message and exit
  --lon LONGITUDE  The longitude coordinate, default=10.573138
  --lat LATITUDE   The latitude coordinate, default=55.369671

In the terminal running run_mission.py info messages are regularly printed. If more verbose logging is needed, debug logs are also stored in the /logs directory.