Drone Waypoint Navigation using Mission Planner with Dronekit-Python

Abstract

Technological developments in the industrial era 4.0 are enormous. One technology that is developing rapidly with a lot of demand is Unmanned Aerial Vehicle (UAV) or Drone technology. The use of drones or UAVs is becoming popular in commercial, private or even governmental activities, and it can be seen that there is a possibility that in the future, people will depend on the use of drones which are more practical in their daily activities. The drone used in this question was a custom drone with the F450 design. This Ramble was equipped with a Pixhawk 2.4.6 Flight Controller (FC) development, which has several sensors such as accelerometer, gyroscope, compass, and others. There was also a Raspberry Pi 4 Scaled down Computer which acts as a command provider for the FC. There were 2 systems, namely the Autonomous Navigation System. This information was obtained from the flight controller, such as ground speed, altitude, latitude and longitude. In testing, the autonomous navigation system includes an altitude deviation of 0.5m - 1m and a normal deviation in taking the path after flying 40.99cm. For the monitoring system, the error values were 4%, 9%, and 0.000001% for altitude, moving speed, and latitude and longitude, respectively.