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tflite1-mavlink

Image recognition and tracking based on TensorFlow-Lite-Object-Detection-on-Android-and-Raspberry-Pi and control a gimbal to track the recognized object at the center of image. Gimbal based on PCA9685. Also send message on MAVLink.

To run this code: python3 TFLite_detection_webcam.py

Required hardware:

  1. Raspberry Pi 4 Computer Model B 8GB Single Board Computer Suitable for Building Mini PC/Smart Robot/Game Console/Workstation/Media Center/Etc.
  2. Coral USB Accelerator
  3. Raspberry Pi Camera Module V2-8 Megapixel,1080p (RPI-CAM-V2)
  4. Pixhawk PX4 PIX 2.4.8 32 Bit Flight Controller Autopilot with 4G SD Safety Switch Buzzer PPM I2C for RC Quadcopter Ardupilot
  5. Arducam Upgraded Camera Pan Tilt Platform Compatible with Raspberry Pi Camera Module 3/V1/V2, Nvidia Jetson Nano/Xavier NX

Required software packages:

  1. Install Rasbian Headless (32-bit Bullseye) on RasPi4B
  2. Install TensorFlow-Lite-Object-Detection from Google Coral
  3. Install ArduCam
  4. Install MavLink To install these packages, simply run: $ sh get_pi_requirements.sh in the package.

References:

  1. https://www.tomshardware.com/reviews/raspberry-pi-headless-setup-how-to,6028.html
  2. https://github.com/EdjeElectronics/TensorFlow-Lite-Object-Detection-on-Android-and-Raspberry-Pi/blob/master/deploy_guides/Raspberry_Pi_Guide.md
  3. https://github.com/ArduCAM/PCA9685
  4. https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html

Raspberry Pi4 HW Configuraton in Raspi-config:

sudo raspi-config

  1. select: 3 Interface Options Configure connections to peripherals.
  2. select: I1 Legacy Camera Enable/disable legacy camera support.
    select: Yes
  3. select: I6 Serial Port Enable/disable shell messages on serial connection. select: No to Would you like a login shell to be accessible over serial? select: Yes to Would you like the serial port hardware to be enabled?
  4. select: 3 Interface Options Configure connections to peripherals. select: I5 I2C Enable/disable automatic loading of I2C kernel module. select: Yes
  5. select: Finish but don't reboot.

  6. sudo vi /boot/config.txt append dtoverlay=disable-bt enable_uart=1

  7. sudo vi /etc/pip.conf append break-system-packages = true

  8. reboot

Wiring between Raspberr Pi 4 and Pixhawk 4: https://docs.px4.io/main/en/companion_computer/pixhawk_rpi.html

Download this code and run the shell script: git clone https://github.com/winston1408/tflite1-mavlink.git cd tflite1-mavlink/ sh get_pi_requirements.sh