Utils

This section contains a set of useful utilities that can help either to interface the planner with widespread autopilots or to work on further developments.

Export to PX4/Pixhawk

Export to PX4/Pixhawk

Within utils/ExportToPX4 a python script called SIP2PX4.py reads a CSV file that contains the results of the StructuralInspectionPlanner and writes a PX4/Pixhawk mission file. To run the script:

$ python SIP2PX4.py -i <inputfile.csv> -o <outputfile.txt>

KML Path Export to PX4/Pixhawk

Within utils/ExportToPX4 a python script called KML2PX4.py reads a KML file that contains a Path and writes a PX4/Pixhawk mission file. An example script execution would be:

$ python KML2PX4.py --file=ExampleKML.kml --output=KMLmissionPX4.txt --radius=30  --auto=1 --sparsify=1 --height=100

note: set height=-1 to retrieve altitude reference form the KML file

Export to DJI drones

Within utils/ExportToDJI a python script called SIP2DJI.py reads a CSV file that contains the results of the StructuralInspectionPlanner and writes a DJI drone mission file. To run the script:

$ python SIP2DJI.py -i <inputfile.csv> -o <outputfile.awm>

Path to Trajectory

Within utils/PathToTrajectory a python script called PATH2TRAJ.py reads a CSV file that contains the results of the StructuralInspectionPlanner and writes an output file that corresponds to a timed-trajectory in case the employed controller requires such an input. The timed-trajectory is based on closed-loop linear simulation and only refers to holonomic systems. To run the script:

$ python py_compile -O -m PATH2TRAJ.py # to enable basic optimization flags
$ python PATH2TRAJ.pyo -i <inputfile> -o <outputfile>

Tools for Development

Apart from releasing the source code of the StructuralInspectionPlanner, a set of tools to allow easier further development is provided and will be further populated in the future. This set of tools so far includes:

LKH TSP Solver Python Interface

Within utils/Tools/LKH_Python_Interface a python script called InvokeLKH.py interfaces a compiled version of the LKH TSP Solver and exports the solution in the form of a file. To run the script:

$ python InvokeLKH.py

Airplane 2.5D script

To find a path that connects two given configurations [x0,y0,z0,yaw0] and [x1,y1,z1,yaw1] using a vehicle that has a minimum turning radius constraint and a max ascending/descending rate using a 2.5D approximation, use may use the tool found in utils/Tools/Airplane2p5D. To run the command:

$ python Airplane2p5D.py --output=<output_file.txt>