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R/makeAP.R
In uavRmp: UAV Mission Planner
Defines functions
makeAP
Documented in
makeAP
if (!isGeneric('makeAP')) {
setGeneric('makeAP', function(x, ...)
standardGeneric('makeAP'))
}
#'UAV Mission Planning tool for autonomous monitoring flight tasks with respect to DSM/DEM, orthophoto data retrieval.
#'
#' @description The basic idea is to provide an easy to use workflow for controlling rtf-UAVs for planning autonomous surveys to retrieve aerial data sets.
#'
#' @details makeAP (make aerial plan) creates either intermediate flight control files for the
#' DJI phantom x UAVs or ready to upload control files for the 3DR Solo/PixHawk flight controller. The
#' DJI control files are designed for using with the proprietary litchi flight
#' control app exchange format, while the 3DR Solo/PixHawk flight controller files are using the MAVLINK
#' common message set, that is used by the PixHawk flight controller family.
#' Both are implemented very rudimentary.\cr\cr DJI:\cr The reason using DJI
#' is their absolute straightforward usage. Everybody can fly with a DJI but
#' the price is a more or less closed system at least in the low budget segment. There are workarounds like the litchi app that provides
#' additionally to a cloud based mission planner an offline/standalone
#' interface to upload a CSV formatted way point file for autonomous flights to
#' the Phantom.\cr\cr PixHawk flight controller/3DR Solo:\cr The open UAV community is focused
#' on the PixHawk autopilot unit and the Mission Planner software. It is well
#' documented and several APIs are provided. Nevertheless a high resolution
#' terrain following flight planning tool for autonomous obstacle avoiding flight missions
#' is not available. `makeAP` creates a straightforward version of MAV format flight control
#' rules that are ready to be uploaded directly on the Pixhawk controller using the `solo_upload` function.\cr\cr
#'
#' @seealso
#' The underlying concept, a tutorial and a field guide can be found in the package vignettes. See `browseVignettes("uavRmp")` or `vignette(package =
#' "uavRmp")` or
#' at [Github uavRmp manual](https://gisma.github.io/uavRmp/articles/uavRmp_1.html)).
#'
#' @section Warning: Take care! There are still a lot of construction zones
#' around. This script is far beyond to be in a mature state. Please control
#' and backup all controls again while planning and performing autonomous
#' flight plans and missions. You will have a lot of chances to make a small
#' mistake what may yield in a damage of your UAV or even worse in involving
#' people, animals or non-cash assets. Check your risk, use parachute systems
#' and even if it is running like a charm, keep alert!
#' @param projectDir `character` path to the main folder where several locations can be hosted, default is `tempdir()`
#' @param locationName `character` path to the location folder where all tasks of this plot are hosted, default is `"flightArea"`
#' @param surveyArea you may provide either the coordinates by
#' c(lon1,lat1,lon2,lat2,lon3,lat3,launchLat,launchLon) or
#' an OGR compatible file (prefunable to find an inherited method for function ‘makeAP’ for signature ‘"missing"’erably geoJSON or KML) with
#' at least 4 coordinates that describe the flight area.
#' The fourth coordinate is the launch position.
#' You will find further explanation under seealso.
#' @param launchAltitude absolute altitude of launching position.
#' It will overwrite the DEM based estimation if any other value than -9999
#' @param demFn filename of the corresponding DEM data file.
#' @param followSurface `boolean` TRUE performs an altitude correction
#' of the mission's flight altitude using additional DEM data.
#' If no DEM data is provided and `followSurface` is TRUE,
#' SRTM data will be downloaded and used.
#' Further explanation at seealso
#' @param altFilter if `followSurface` is equal `TRUE` then
#' `altFilter` is the threshold value of accepted altitude difference (m) between two way points.
#' If this value is not exceeded, the way point is omitted due to the fact that only 99 way points per mission are allowed.
#' @param followSurfaceRes horizontal step distance for analyzing the DEM altitudes
#' @param horizonFilter integer filter size of the rolling filter kernel for the flight track. Must be multiplied by the `followSurfaceRes` to get the spatial extent
#' @param flightPlanMode type of flight plan. Available are: `"waypoints"`,
#' `"track"`, `"manual"`.
#' @param useMP default is FALSE switches to use a missionplanner/Qgroundcontrolplanner survey as planning base
#' @param presetFlightTask (DJI only) strongly recommended to use "remote"
#' \cr
#' Options are:
#' `"simple_ortho"` takes one picture/way point,
#' `"multi_ortho"` takes 4 picture at a waypoint, two vertically down and two in forward and backward viewing direction and an angle of -60deg,
#' `"simple_pano"` takes a 360 deg panorama picture and
#' `"remote"` which assumes that the camera is controlled by the remote control (RC)
#' @param flightAltitude set the default flight altitude of the mission. It is
#' assumed that the UAV is started at the highest point of the surveyArea
#' otherwise you have to defined the position of launching.
#' @param overlap overlapping of the pictures in percent (1.0 = 100)
#' @param maxwaypoints maximal number of waypoints for Litchi default is 90
#' @param above_ground Litchi setting if the waypoint altitudes are interpreted as AGL default = FALSE
#' @param djiBasic c(0,0,0,-90)
#' \cr curvesize (DJI only) controls the curve angle of the uav passing way points.
#' By default it is set to (`= 0.0`).
#' \cr rotationdir (DJI only) camera control parameter set the UAV basic turn direction to right (0) or left (1)
#' \cr gimbalmode (DJI only) camera control parameter
#' `0` deactivates the gimbal control
#' `1` activates the gimbal for focusing POIs
#' `2` activates the gimbal for focus and interpolate a field of view in an angel of `gimbalpitchangle`
#' \cr gimbalpitchangle (DJI only) vertical angle of camera `+30 deg..-90 deg`
#' \cr actiontype (DJI only) individual actionype settings of the camera c(1,1,...)
#' \cr actionparam (DJI only) corresponding parameter for the above individual actiontype c(0,0,...)
#' `uavViewDir` viewing direction of camera default is `0`
#' @param maxSpeed cruising speed
# #' @param heatMap switch for calculating the overlapping factor on a raster map
#' @param picFootprint switch for calculating the footprint at all way points
#' @param picRate fastest stable interval (s) for shooting pictures
#' @param windCondition 1= calm 2= light air 1-5km/h, 3= light breeze 6-11km/h, 4=gentle breeze 12-19km/h 5= moderate breeze 20-28km/h
#' @param copy copy switch
#' @param cmd mavlink command
#' @param noFiles manual split number of files
#' @param buf_mult multiplier for defining the zone in which the waypoints are assumed to be turning waypoints according to buf_mult * `followSurfaceRes`
#' @param uavViewDir view direction of uav
#' @param maxFlightTime user defined estimation of the lipo lifetime (20 min default)
#' @param rcRange range of estimated range of remote control
#' @param uavType type of UAV. currently "dji_csv" for Litchi CSV export and "pixhawk" for MAVlink compatible flightplans are supported
#' @param dA if TRUE the real extent of the used DEM is returned helpful for low altitudes flight planning
#' @param cameraType depending on the UAV Platform and integrated camera choose for DJI Mini 1/2/3, Phantom 3/Phantom 4 , Inspire 1) the `dji43` and for the DJI Air 2S the `dji32` tag. For GoPro action cams on whatever aircraft you can choose `GP3_7MP` or `GP3_11MP`. Flying the Mapir 2 camera choose `MAPIR2`. For the E90X camera of Yuneec you choose `YUN90`. Please note the calculation of the flight pathes is done via the ratio of vertical and horizontal resolution of the camera in the NON 16:9 and Landscape Modus.
#' @param runDir `character` runtime folder
#' @param gdalLink link to GDAL binaries
#'
#' @examples
#'\dontrun{
#' # Depending on the arguments, the following spatial data sets can be returned:
#'
#' # lp the planned launching position of the UAV.
#' # wp waypoints inclusive all information
#' # oDEM the original (input) digital surface model (DSM)
#' # rDEM the resampled (used) DSM
#' # fp optimized footprints of the camera
#' # fA flight area with at least 2 overlaps
#' # rcA area covered by the RC according to the range and line of sight
#'
#' ## for visualisation and vecDraw load mapview
#' require(mapview)
#'
#' ## (1) get example DEM data
#' demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#' tutorial_flightArea <- system.file("extdata", "flightarea.kml", package = "uavRmp")
#'
#' ## (2) simple flight, 100 meters above ground
#' ## assuming a flat topography,
#'
#' fp <- makeAP(surveyArea = tutorial_flightArea,
#' demFn = demFn)
#'
#' ## (3) typical real case scenario (1)
#' ## A flight altitudes BELOW 50 m is ambitious and risky
#' ## You have to use a high quality high resulution DSM
#' ## (here simulated with a standard DEM)
#'
#'fp <- makeAP(surveyArea=tutorial_flightArea,
#' followSurface = TRUE,
#' flightAltitude = 45,
#' demFn = demFn,
#' windCondition = 1,
#' uavType = "dji_csv",cameraType = "dji32",
#' followSurfaceRes = 5,
#' altFilter = .75)
#'
#'
#' ## (4) typical real case scenario (2)
#' ## A flight altitudes BELOW 50 m is ambitious and risky
#' ## You have to use a high quality high resolution DSM
#' ## (here simulated with a standard DEM)
#' ## NOTE All settings are taken from QGroundcontrol so adapt the survey settings according
#' ## to "calc above terain" and use the "YUN90" camera tag for camera flight speed etc.
#' ## NOTE EXPERIMENTAL
#'
#'demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#'tutorial_flightArea <- system.file("extdata", "tutdata_qgc_survey.plan", package = "uavRmp")
#'fp <- makeAP(surveyArea=tutorial_flightArea,
#' useMP = TRUE,
#' followSurface = TRUE,
#' demFn = demFn,
#' windCondition = 1,
#' uavType = "pixhawk",
#' cameraType = "YUN90",
#' followSurfaceRes = 5,
#' altFilter = .75)
#'
#' ## (5) typical real case scenario (3)
#' ## This examples uses a flight planning from the QGroundcotrol Survey planning tool
#' ## It also used the all calculations for camera flight speed etc.
#' ## The flight plan is modyfied by splitting up the task according to 99 Waypoints
#' ## and flight time and saved as litchi csv format
#' ## NOTE EXPERIMENTAL tested with DJI mavic mini 2
#'
#'demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#'tutorial_flightArea <- system.file("extdata", "tutdata_qgc_survey.plan", package = "uavRmp")
#'fp <- makeAP(surveyArea=tutorial_flightArea,
#' useMP = TRUE,
#' demFn = demFn,
#' maxFlightTime = 25,
#' cameraType = "dji32",
#' uavType = "dji_csv")
#'
#' ## call a simple shiny interface
#' shiny::runApp(system.file("shiny/plan2litchi/", "app.R", package = "uavRmp"))
#'
#'
#' ## (6) view results
#'
#'mapview::mapview(fp$wp,cex=4, lwd=0.5)+
#'mapview::mapview(fp$lp,color = "red", lwd=1,cex=4)+
#'mapview::mapview(fp$fA,color="blue", alpha.regions = 0.1,lwd=0.5)+
#'mapview::mapview(fp$oDEM,col=terrain.colors(256))
#'
#'
#'
#' ## (6) digitize flight area using the small "onboard" tool vecDraw()
#' ## save vectors as "kml" or "json" files
#' ## provide full filename + extension!
#'
#'
#' vecDraw(preset="uav")
#'}
#' @export makeAP
#'
makeAP <- function(projectDir = tempdir(),
locationName = "flightArea",
surveyArea = NULL,
flightAltitude = 100,
launchAltitude = NULL,
followSurface = FALSE,
followSurfaceRes = 25,
demFn = NULL,
noFiles = 1,
altFilter = 1.0,
horizonFilter = 30,
flightPlanMode = "track",
useMP = FALSE,
presetFlightTask = "remote",
overlap = 0.8,
maxSpeed = 20.0,
maxFlightTime = 10,
picRate = 2,
windCondition = 0,
uavType = "pixhawk",
cameraType = "MAPIR2",
buf_mult =1.5,
cmd=16,
uavViewDir = 0,
maxwaypoints = 9999,
above_ground = FALSE,
djiBasic = c(0, 0, 0,-90, 0),
dA = FALSE,
#heatMap = FALSE,
picFootprint = FALSE,
rcRange = NULL,
copy = FALSE,
runDir=tempdir(),
gdalLink=NULL)
{
### setup environ and params
cat("setup environ and params...\n")
nofiles=1
if (useMP & horizonFilter > 10) horizonFilter = 3
if (useMP) followSurface = TRUE
options(warn=0)
# assign flight mission name
#locationName <- file.path(locationName,"missions")
if (substr(projectDir,nchar(projectDir),nchar(projectDir)) == "/") projectDir <- substr(projectDir,1,nchar(projectDir)-1)
else if (substr(projectDir,nchar(projectDir),nchar(projectDir)) == "\\") projectDir <- substr(projectDir,1,nchar(projectDir)-1)
projstru <- setProjStructure (projectDir,
locationName,
flightAltitude,
uavType,
cameraType,
surveyArea,
demFn,
copy)
dateString <- projstru[3]
taskName <- projstru[2]
csvFn <- projstru[1]
## create log file
logger <- log4r::create.logger(logfile = paste0(file.path(projectDir, locationName, dateString, "fp-data/log/"),strsplit(basename(taskName[[1]]), "\\.")[[1]][1],'.log'))
log4r::level(logger) <- "INFO"
log4r::levellog(logger,'INFO',"--------------------- START RUN ---------------------------")
log4r::levellog(logger, 'INFO', paste("Working folder: ", file.path(projectDir, locationName, dateString)))
## need picfootprint for calculating the heatmap
# if (heatMap) { picFootprint = TRUE }
## uav platform depending parameter setting
if (uavType == "dji_csv") {
if (cameraType=="MAPIR2" | cameraType == "YUN90") {
cameraType = "dji43"
message("set cameraType to dji43")
log4r::levellog(logger, 'INFO', paste("force cameratype to : 'dji4'3"))
}
if (cameraType == "dji43"){
factor <- 1.33 # FOV ratio
} else if (cameraType == "dji32"){
factor <- 1.5 # FOV ratio
}
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = overlap,
curvesize = djiBasic[1], # curvesize
rotationdir = djiBasic[2], # rotationdir
gimbalmode = djiBasic[3], # gimbalmode
gimbalpitchangle = djiBasic[4], # gimbalpitchangle
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
#calc & assign overlapping factor as a function of flightAltitude
fliAltRatio <- 1 - overlap
# FOV*agl*(1-overlap)
uavOptimumSpeed <- ceiling(factor * flightAltitude * fliAltRatio)
}
else if (uavType == "pixhawk") {
if (cameraType == "MAPIR2") {
factor <- 1.55
} else if (cameraType == "GP3_7MP") {
factor <- 1.31
} else if (cameraType == "GP3_11MP") {
factor <-1.71
} else if (cameraType == "YUN90") {
factor <-1.5
}
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = overlap,
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
#calc & assign overlapping factor as a function of flightAltitude
fliAltRatio <- 1 - overlap
# FOV*agl*(1-overlap)
uavOptimumSpeed <- ceiling(factor * flightAltitude * fliAltRatio)
}
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
# if missionplanner survey plan is used
if (useMP) {
#browser()
t<-jsonlite::fromJSON(surveyArea)
listPos<-grep("command", t$mission$items$TransectStyleComplexItem$Items)
tmp<- t$mission$items$TransectStyleComplexItem$Items[listPos][[1]]
#length(tmp$params[[60]])
#tmp$params[[1]][5:6]
coord<-tmp[tmp["command"]==16, ]
#coord$params
df_coordinates<-t(as.data.frame(rlist::list.cbind(coord[,"params",])))[,5:6]
# t$mission$items$TransectStyleComplexItem$VisualTransectPoints
tracks<- ceiling(nrow(coord)/4)
trackDistance <- t$mission$items$TransectStyleComplexItem$CameraCalc$AdjustedFootprintFrontal[listPos]
crossDistance <- t$mission$items$TransectStyleComplexItem$CameraCalc$AdjustedFootprintSide[listPos]
totalTrackdistance <- trackDistance
fliAltRatio <- 1 - t$mission$items$TransectStyleComplexItem$CameraCalc$SideOverlap[listPos]/100
flightAltitude <- t$mission$items$TransectStyleComplexItem$CameraCalc$DistanceToSurface[listPos]
# fa_poly=t$mission$items$polygon[3][[1]]
# # p1 = c(fa_poly[1,2],fa_poly[1,1])
# # p2= c(fa_poly[2,2],fa_poly[2,1])
# # p3 = c(fa_poly[3,2],fa_poly[3,1])
# # p4 = c(fa_poly[4,2],fa_poly[4,1])
# # l_dist = geosphere::distGeo(p3,p4)
#maxSpeed <- t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[3]*3.6 #t$mission$cruiseSpeed
# if (length(t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[2]*3.6)!=0) maxSpeed <- t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[2]*3.6
maxSp = t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[!is.na(t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed)]*3.6
if (length(maxSp) != 0) maxSpeed = maxSp
launchLat <- t$mission$plannedHomePosition[1]
launchLon <- t$mission$plannedHomePosition[2]
updir <- t$mission$items$angle[listPos]
if (updir <= 180) downdir <- updir + 180
else if (updir>180) downdir<- updir -180
crossdir <- geosphere::bearing(c(df_coordinates[2,][2],df_coordinates[2,][1] ),c(df_coordinates[3,][2],df_coordinates[3,][1] ),a = 6378137,f = 1 / 298.257223563)
missionArea <- t$mission$items$polygon[listPos]
# calculate heading from launch position to mission start position
launch2startHeading <- geosphere::bearing(p1 = c(launchLon, launchLat),p2 = c(df_coordinates[1,][2],df_coordinates[1,][1] ),a = 6378137,f = 1 / 298.257223563)
groundResolution<-t$mission$items$TransectStyleComplexItem$CameraCalc$ImageDensity[listPos]
if (crossDistance < followSurfaceRes) followSurfaceRes = crossDistance
if (crossDistance < horizonFilter ) horizonFilter = crossDistance
# set cumulative flightlength to zero
flightLength <- 0
if (uavType == "dji_csv")
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = overlap,
curvesize = djiBasic[1], # curvesize
rotationdir = djiBasic[2], # rotationdir
gimbalmode = djiBasic[3], # gimbalmode
gimbalpitchangle = djiBasic[4], # gimbalpitchangle
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
if (uavType == "pixhawk")
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = 1- fliAltRatio ,
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
p <- makeFlightParam( c(missionArea[[1]][1],missionArea[[1]][5],
missionArea[[1]][2],missionArea[[1]][6] ,
missionArea[[1]][3],missionArea[[1]][7] ,
launchLat, launchLon),
flightParams, followSurface)
mode<-p$flightPlanMode
# set universal view direction of the uav
if (abs(as.numeric(flightParams["uavViewDir"])) == 0) {
uavViewDir <- updir
}
else {
uavViewDir <- abs(as.numeric(flightParams["uavViewDir"]))
}
## calculate survey area
# create an sp polygon object of the mission area
# your data (removed crs column)
# browser()
tarea <- data.table::data.table(
longitude= as.data.frame(t$mission$items$polygon[listPos][1])[,2],
latitude=as.data.frame(t$mission$items$polygon[listPos][1])[,1])
tarea = sf::st_as_sf(tarea, coords = c("longitude", "latitude"),
crs = 4326)
tarea<- sf::st_bbox(tarea)
taskArea<-sf::st_as_sfc(sf::st_bbox(tarea))
taskAreaUTM <- sf::st_transform(taskArea, 4326)
# reproject it to UTM
#taskAreaUTM <- sp::spTransform(taskArea, sp::CRS(paste("+proj=utm +zone=",long2UTMzone(p$lon1)," ellps=WGS84",sep = '')))
# calculate area
surveyAreaUTM <- sf::st_area(taskAreaUTM)
#########################################
#########################
# initialize jiDF and mav
djiDF <- data.frame()
mavDF <- data.frame()
#set initial heading
heading <- updir
# define output line var
lns <- list()
lns <- launch2flightalt(p, lns, uavViewDir, launch2startHeading, uavType,above_ground=above_ground)
# assign starting point
pos <- c(df_coordinates[1,][2],df_coordinates[1,][1])
footprint <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
footprint = sf::st_transform(sf::st_as_sf(footprint),crs = 25832)
#footprint<- sp::spTransform(footprint,sp::CRS("+init=epsg:25832"))
landscape<-abs(abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3])*overlap-abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3]))
portrait<- abs(abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4])*overlap-abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4]))
# calculates the footprint of the first position and returns a SpatialPolygonsDataFrame
if (picFootprint) camera <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
else camera = "NULL"
# ## creates the export control parameter set of the first position
# if (uavType == "dji_csv") {
# lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
# }
#
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1], head = uavViewDir, group = 99 )
}
# push pos to old pos
pOld <- pos
if (uavType == "pixhawk") {
# set counter and params for mode = "track" mode
if (mode == "track") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
# trackDistance <- len
multiply <- 1
}
## set counter and params for mode = "waypoints"
else if (mode == "waypoints") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
}
## set counter and params for mode = "terrainTrack"
else if (mode == "terrainTrack")
group = 99 }
group = 99
df_coord<-data.frame(df_coordinates)
df_coord = spatialEco::insert(df_coord,MARGIN = 1,value = c(pos[2], pos[1]), idx=1)
names(df_coord)<-c("lat","lon")
df_coord$heading=0
df_coord$len=0
df_coord$multiply=1
for (j in 1:(nrow(df_coord))) {
j2 = j+1
goal_pos = c(df_coord$lon[j2],df_coord$lat[j2])
start_pos = c(df_coord$lon[j],df_coord$lat[j] )
if (j==nrow(df_coord)) {
goal_pos= c(df_coord$lon[j] ,df_coord$lat[j] )
start_pos=c(df_coord$lon[j],df_coord$lat[j] )
}
df_coord$heading[j] <- round(geosphere::bearing(start_pos, goal_pos,a = 6378137,f = 1 / 298.257223563),digits = 0)
df_coord$len[j] <- geosphere::distGeo(start_pos, goal_pos,a = 6378137,f = 1 / 298.257223563)
df_coord$multiply[j] <- floor(df_coord$len[j] / followSurfaceRes)
max_len = max(df_coord$len[j] * followSurfaceRes, followSurfaceRes)
}
## now start calculating the waypoints according to the resolution
cat("calculating waypoints...\n")
pb <- pb <- utils::txtProgressBar(max = tracks, style = 3)
# then do for the rest forward and backward
pOld<- c(df_coord$lon[1],df_coord$lat[1])
df_coord$group = 99
for (j in 1:(nrow(df_coord))) {
# for (i in seq(1:df_coord$multiply[j])) { mode == "terrainTrack"
# if (mode == "waypoints" || mode == "track") {
# group <- 1
# if (df_coord$multiply[j] < 1 || is.na(df_coord$multiply[j])) {group <- 99}}
# else {group <- 1}}
#else {i <- 2}
# calc next coordinate
if (j < nrow(df_coord))
dist = geosphere::distGeo(pOld, c(df_coord$lon[j+1],df_coord$lat[j+1]),a = 6378137,f = 1 / 298.257223563)
postiterator = floor(dist/followSurfaceRes)
if ( postiterator <= 2) postiterator=1
#print(postiterator)
for (jj in 1:postiterator) {
group=1
postmp <- calcNextPos(pOld[1], pOld[2], df_coord$heading[j], followSurfaceRes)
dfpos = data.frame(
lat=postmp[2],
long=postmp[1])
df_coord_pos = data.frame(
lat=df_coord$lat[j],
long=df_coord$lon[j])
df_coord_pos = sf::st_as_sf(df_coord_pos, coords = c("long","lat"),remove = FALSE)
pos = sf::st_as_sf(dfpos, coords = c("long","lat"),remove = FALSE)
intersect=sf::st_intersection(sf::st_buffer(pos,dist = followSurfaceRes),df_coord_pos)
if (nrow(intersect)>0)
{
pos = sf::st_coordinates(df_coord_pos)
group = 99
#j= j+1
}
if (j==nrow(df_coord))pos <- calcNextPos(pOld[1], pOld[2], df_coord$heading[j], max_len )
flightLength <- flightLength + followSurfaceRes
if (mode == "track") {
group <- 99
}
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = group, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2], lon = pos[1], head = uavViewDir, group = group)
}
pOld <- pos
}
# status bar
utils::setTxtProgressBar(pb, j)
}
close(pb)
fileConn <- file(file.path(runDir,"del.csv"))
writeLines(unlist(lns[1:length(lns)]), fileConn)
djiDF <- utils::read.csv(file.path(runDir,"del.csv"), sep = ",", header = FALSE)
# add correct header
names(djiDF) <-unlist(strsplit(makeUavPoint(pos,uavViewDir,group =group,p,header = TRUE,sep = ','),split = ","))
df_coord_pos = sf::st_as_sf(djiDF, coords = c("lon","lat"),remove = FALSE)
r6 = st_difference(df_coord_pos)
}
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
else if (!useMP){
## get survey area
##
surveyArea <- calcSurveyArea(surveyArea, projectDir, logger, useMP)
# adapt default flight params to runtime request
p <- makeFlightParam(surveyArea, flightParams, followSurface)
# assign flightmode
mode <- as.character(p$flightPlanMode)
# assign flight Altitude
flightAltitude <- as.numeric(flightParams["flightAltitude"])
# calc distance between two pictures using a camera dependent multiplicator
trackDistance <- calcTrackDistance(fliAltRatio, flightAltitude, factor)
totalTrackdistance <- trackDistance
# pictures are assumed as squares
crossDistance <- trackDistance
#browser()
## calculate survey area
# create an sp polygon object of the mission area
taskArea <- taskarea(p, csvFn)
mapview::mapview( taskArea)
# reproject it to UTM
ta=sf::st_as_sf(taskArea)
ta=sf::st_transform(ta,crs = paste("+proj=utm +zone=",long2UTMzone(p$lon1)," ellps=WGS84",sep = ''))
# taskAreaUTM <- as(ta, "Spatial") # rgeos
# calculate area
surveyAreaUTM <- sf::st_area(ta) # rgeos
## now do old planning stuff
# calculate heading from launch position to mission start position
launch2startHeading <- geosphere::bearing(c(p$launchLon, p$launchLat),c(p$lon1, p$lat1),a = 6378137,f = 1 / 298.257223563)
# calculate and assign heading base flight track W-E
updir <- geosphere::bearing(c(p$lon1, p$lat1),c(p$lon2, p$lat2),a = 6378137,f = 1 / 298.257223563)
# calculate and assign heading base flight track E-W
downdir <- geosphere::bearing(c(p$lon2, p$lat2),c(p$lon1, p$lat1),a = 6378137,f = 1 / 298.257223563)
# calculate and assign heading base flight track trackline to trackline
crossdir <- geosphere::bearing(c(p$lon2, p$lat2),c(p$lon3, p$lat3),a = 6378137,f = 1 / 298.257223563)
# calculate and assign distance of the base flight track
len <- geosphere::distGeo(c(p$lon1, p$lat1), c(p$lon2, p$lat2))
# calculate and assign distance of the cross base flight track
crosslen <- distGeo(c(p$lon2, p$lat2),c(p$lon3, p$lat3),a = 6378137,f = 1 / 298.257223563)
if (is.null(followSurfaceRes)) {
followSurfaceRes <- trackDistance
p$followSurfaceRes <- followSurfaceRes
}
# IF followSurface set track/crossDistance to followSurfaceRes
if (followSurface) {
multiply <- floor(len / followSurfaceRes)
trackDistance <- followSurfaceRes
#crossDistance<-followSurfaceRes
} else{
multiply <- floor(len / trackDistance)
}
# calculate and assign number of tracklines
tracks <- floor(crosslen / crossDistance)
#set initial heading
heading <- updir
# set universal view direction of the uav
if (abs(as.numeric(flightParams["uavViewDir"])) == 0) {
uavViewDir <- updir
}
else {
uavViewDir <- abs(as.numeric(flightParams["uavViewDir"]))
}
# init of control id #1 common #99 turnpoints of single tracks
group <- 1
# set cumulative flightlength to zero
flightLength <- 0
# initialize djiDF and mav
djiDF <- data.frame()
mavDF <- data.frame()
# define output line var
lns <- list()
lns <- launch2flightalt(p, lns, uavViewDir, launch2startHeading, uavType,above_ground=above_ground)
# assign starting point
pos <- c(p$lon1, p$lat1)
footprint <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
footprint = sf::st_transform(sf::st_as_sf(footprint),crs = 25832)
#footprint<- sp::spTransform(footprint,sp::CRS("+proj=utm +zone=32 +ellps=GRS80 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"))
landscape<-abs(abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3])*overlap-abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3]))
portrait<- abs(abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4])*overlap-abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4]))
# calculates the footprint of the first position and returns a SpatialPolygonsDataFrame
if (picFootprint) camera <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
else camera = "NULL"
## creates the export control parameter set of the first position
##
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1], head = uavViewDir, group = 99 )
}
# push pos to old pos
pOld <- pos
## set counter and params for mode = "track" mode
if (mode == "track") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
#trackDistance <- len
multiply <- 1
}
## set counter and params for mode = "waypoints"
else if (mode == "waypoints") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
}
## set counter and params for mode = "terrainTrack"
else if (mode == "terrainTrack") group = 99
#########################################
#########################
## now start calculating the waypoints according to the resolution
cat("calculating waypoints...\n")
pb <- pb <- utils::txtProgressBar(max = tracks, style = 3)
# then do for the rest forward and backward
for (j in seq(1:tracks)) {
for (i in seq(1:multiply)) {
if (mode == "waypoints" || mode == "terrainTrack") {
if (i >= multiply) {
group <- 99
}
else {
group <- 1
}
}
else {
i <- 2
}
# calc next coordinate
pos <- calcNextPos(pOld[1], pOld[2], heading, trackDistance)
if (picFootprint) camera <- sf::st_polygon(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance, flightAltitude,i,j,factor)) #maptools::spRbind(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance, flightAltitude,i,j,factor))
pOld <- pos
flightLength <- flightLength + trackDistance
if (mode == "track") {
group <- 99
}
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = group, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2], lon = pos[1], head = uavViewDir, group = group)
}
}
if ((j %% 2 != 0)) {
pos <- calcNextPos(pOld[1], pOld[2], crossdir, crossDistance)
if (picFootprint) camera <- sf::st_polygon(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance,flightAltitude,i,j,factor)) #maptools::spRbind(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance,flightAltitude,i,j,factor))
pOld <- pos
flightLength <- flightLength + crossDistance
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <-
makeUavPointMAV(
lat = pos[2],
lon = pos[1],
head = uavViewDir,
group = 99
)
}
heading <- downdir
}
else if ((j %% 2 == 0)) {
pos <- calcNextPos(pOld[1], pOld[2], crossdir, crossDistance)
if (picFootprint) camera <- sf::st_polygon(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance,flightAltitude,i,j,factor)) #maptools::spRbind(camera, calcCamFoot( pos[1], pos[2], uavViewDir,trackDistance,flightAltitude,i,j,factor))
pOld <- pos
flightLength <- flightLength + crossDistance
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
heading <- updir
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV( lat = pos[2], lon = pos[1], head = uavViewDir - 180, group = 99)
heading <- updir
}
}
# status bar
utils::setTxtProgressBar(pb, j)
}
close(pb)
}
if (uavType == "dji_csv") {
#browser()
fileConn <- file(file.path(runDir,"del2.csv"))
writeLines(unlist(lns[1:length(lns)]), fileConn)
djiDF <- utils::read.csv(file.path(runDir,"del2.csv"), sep = ",", header = FALSE)
# add correct header
# if (!followSurface){
# djiDF1= djiDF[1:3,]
# t1=nrow(djiDF)-3
# t2=nrow(djiDF)-0
# djiDF2= djiDF[t1:t2,]
# djiDinner= djiDF1[4:length(djiDF-4),]
# }
names(djiDF) <-unlist(strsplit(makeUavPoint(pos,uavViewDir,group =group,p,header = TRUE,sep = ','),split = ","))
djiDF=djiDF[,-(1:2)]
# df_coord_pos = sf::st_as_sf(djiDF, coords = c("lon","lat"),remove = TRUE)
# r6 = st_difference(df_coord_pos)
}
##########################
##########################################
#browser()
#estimate time regarding parameter
ft <- calculateFlightTime( maxFlightTime,
windCondition,
maxSpeed,
uavOptimumSpeed,
flightLength,
totalTrackdistance,
picRate,
logger)
rawTime <- ft[1]
maxFlightTime <- ft[2]
maxSpeed <- ft[3]
picIntervall <- ft[4]
# postprocessing
fileConn <- file(file.path(runDir,"tmp.csv"))
cat("preprocessing DEM related stuff...\n")
if (uavType == "dji_csv") {
if (!exists("r6")){
#browser()
# dump lns to file for read in as csv
writeLines(unlist(lns[1:length(lns)]), fileConn)
djiDF <- utils::read.csv(file.path(runDir,"tmp.csv"), sep = ",", header = FALSE)
# add correct header
names(djiDF) <-unlist(strsplit(makeUavPoint(pos,uavViewDir,group =group,p,header = TRUE,sep = ','),split = ","))
# make it spatial
sp::coordinates(djiDF) <- ~ lon + lat
sp::proj4string(djiDF) <- sp::CRS("+proj=longlat +datum=WGS84 +no_defs")
# now DEM stuff
} else {
sf::st_crs(r6)=4326
djiDF=as(r6,"Spatial")
}
result <- analyzeDSM(useMP=useMP,demFn,djiDF,p,altFilter,horizonFilter,followSurface,followSurfaceRes,logger,projectDir,dA,dateString,locationName,runDir,taskarea=taskArea,gdalLink,buf_mult=buf_mult)
# assign adapted dem to demFn
demFn <- result[[3]]
dfcor <- result[[2]]
# max numbers of dji waypoints is due to factory limits 98
# according to start and rth safety we need 6 points for organizig the splitted task
nofiles <- ceiling(nrow(dfcor@data) / maxwaypoints)
maxPoints <- maxwaypoints
minPoints <- 1
# check if the flighttime is forcing more files
if (nofiles < noFiles) {
nofiles <- noFiles
maxPoints <- ceiling(nrow(dfcor@data) / nofiles) + 1
mp <- maxPoints
minPoints <- 1
}
# start the creation of the control file(s)
cat('generate control files...\n')
# generate single tasks waypoint file for DJI Litchi import format
calcDjiTask( result[[2]],taskName,nofiles,maxPoints,p,logger, round(result[[6]], digits = 0), trackSwitch=FALSE,file.path(runDir,"demll.tif"),result[[8]], projectDir,dateString,locationName,runDir)
}
else if (uavType == "pixhawk") {
writeLines(unlist(lns), fileConn)
mavDF <- utils::read.csv(file.path(runDir,"tmp.csv"), colClasses=c("V4"="character",
"V5"="character",
"V6"="character",
"V7"="character"),sep = "\t", header = FALSE)
names(mavDF) <- c("a","b","c","d","e","f","g","latitude","longitude","altitude","id","j","lat","lon")
sp::coordinates(mavDF) <- ~ lon + lat
sp::proj4string(mavDF) <- sp::CRS("+proj=longlat +datum=WGS84 +no_defs")
if (is.null(launchAltitude)) {
# analyze DEM related stuff
result <- analyzeDSM(useMP=useMP,demFn,mavDF,p,altFilter,horizonFilter ,followSurface,followSurfaceRes,logger,projectDir,dA,dateString,locationName,runDir,taskArea,gdalLink,buf_mult=buf_mult)
# assign adapted dem to demFn
lauchPos <- result[[1]]
dfcor <- result[[2]]
demFn <- result[[3]]
if (noFiles > nofiles)
{nofiles <- ceiling(rawTime / maxFlightTime)} else {nofiles = noFiles}
maxPoints <- ceiling(nrow(dfcor@data) / nofiles) + 1
}
# generate single tasks waypoint file for MAV pixhawk format
calcMAVTask(result[[2]],
taskName,
nofiles,
rawTime,
mode,
trackDistance,
maxFlightTime,
logger,
p,
len,
multiply,
tracks,
result,
maxSpeed / 3.6,
uavType,
file.path(runDir,"flightDEM.tif"),
maxAlt = result[[6]],
projectDir,
dateString,
locationName,
uavViewDir,
cmd,
runDir)
}
close(fileConn)
# # if heatMap is requested
# if (heatMap) {
# cat("calculating picture coverage heat map\n")
# fovH <- calcFovHeatmap(camera, result[[4]])
# } else
# {
# fovH <- "NULL"
# }
# call rcShed
##if (!is.null(rcRange)) {
## cat("calculating RC-range\n")
## rcCover <-
## rcShed(
## launchP = c(as.numeric(p$launchLon), as.numeric(p$launchLat)),
## flightAlt = as.numeric(p$flightAltitude),
## rcRange = rcRange,
## dem = result[[4]]
## )
##} else {
rcCover = "NULL"
##}
# write log file status and params
log4r::levellog(logger, 'INFO', paste("taskName : ", taskName))
log4r::levellog(logger, 'INFO', paste("DEM filename : ", names(demFn)))
log4r::levellog(logger, 'INFO', paste("surveyArea : ", surveyAreaUTM))
log4r::levellog(logger, 'INFO', paste("launchAltitude : ", launchAltitude))
log4r::levellog(logger, 'INFO', paste("followSurface : ", followSurface))
log4r::levellog(logger, 'INFO', paste("altfilter : ", altFilter))
log4r::levellog(logger, 'INFO', paste("horizonFilter : ", horizonFilter))
log4r::levellog(logger, 'INFO', paste("flightPlanMode : ", flightPlanMode))
log4r::levellog(logger, 'INFO', paste("flightAltitude : ", flightAltitude))
log4r::levellog(logger, 'INFO', paste("presetFlightTask: ", presetFlightTask))
log4r::levellog(logger, 'INFO', paste("curvesize : ", p$curvesize))
if (uavType == "dji_csv"){
log4r::levellog(logger, 'INFO', paste("rotationdir : ", p$rotationdir))
log4r::levellog(logger, 'INFO', paste("gimbalmode : ", p$gimbalmode))
log4r::levellog(logger, 'INFO',paste("gimbalpitchangle: ", p$gimbalpitchangle))
}
log4r::levellog(logger, 'INFO', paste("overlap : ", overlap))
log4r::levellog(logger, 'INFO', paste("uavViewDir : ", uavViewDir))
log4r::levellog(logger, 'INFO', paste("picFootprint : ", picFootprint))
log4r::levellog(logger,'INFO',paste("followSurfaceRes: ", followSurfaceRes))
log4r::levellog(logger, 'INFO', paste("surveyAreaCoords: ", list(surveyArea)))
log4r::levellog(logger, 'INFO', paste("windCondition : ", windCondition))
log4r::levellog(logger,'INFO',paste("calculated mission time : ", rawTime, " (min) "))
log4r::levellog(logger,'INFO',paste("estimated battery lifetime : ", maxFlightTime, " (min) "))
log4r::levellog(logger,'INFO',paste("Area covered : ", surveyAreaUTM / 10000, " (ha)"))
log4r::levellog(logger, 'INFO', "-")
log4r::levellog(logger,'INFO',"----- use the following task params! --------------")
log4r::levellog(logger,'INFO',paste("RTH flight altitude: ", round(result[[6]], digits = 0), " (m)"))
log4r::levellog(logger,'INFO',paste("max flight speed : ",round(maxSpeed, digits = 1)," (km/h) "))
log4r::levellog(logger,'INFO',paste("picture lapse rate : ", picIntervall, " (sec/pic) "))
log4r::levellog(logger, 'INFO', paste("trigger distance portrait : ", portrait))
log4r::levellog(logger, 'INFO', paste("trigger distance landscape : ", landscape))
log4r::levellog(logger,'INFO',"--------------------- END RUN -----------------------------")
# return params for visualisation and main results for overview
if ((flightPlanMode == 'track' | flightPlanMode == 'terrainTrack') & rawTime > maxFlightTime) {
note <- "flighttime > battery lifetime! control files have been splitted. \n Fly save and have Fun..."
}
else if (flightPlanMode == 'waypoints') {
note <- "control files are splitted after max 98 waypoints (litchi control file restricted number)"
}
else { note <- " Fly save and have Fun..." }
dumpFile(paste0(file.path(projectDir, locationName, dateString, "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'))
cat("\n ",
"\n NOTE 1:",as.character(note),"",
"\n NOTE 2: You will find all parameters in the logfile:",paste0(file.path(projectDir, locationName, dateString, "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'),"","\n ")
x <- c(result[[1]], # launch Pos
result[[2]], # waypoints
result[[5]], # resampled dem contour
result[[3]], # original DEM
result[[4]], # resampled dem
camera, # camera footprint (DJI only)
taskArea, # Area of flight task
rcCover) #, # Estimated area that is covered by RC
# fovH) # Heatmap of overlapping Pictures
names(x) <- c("lp", "wp", "demA", "oDEM", "rDEM", "fp", "fA", "rcA")
system(paste0("rm -rf ",file.path(projectDir,locationName,dateString,"fp-data/run")))
return(x)
}
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Defines functions makeAP
Documented in makeAP
if (!isGeneric('makeAP')) {
setGeneric('makeAP', function(x, ...)
standardGeneric('makeAP'))
}
#'UAV Mission Planning tool for autonomous monitoring flight tasks with respect to DSM/DEM, orthophoto data retrieval.
#'
#' @description The basic idea is to provide an easy to use workflow for controlling rtf-UAVs for planning autonomous surveys to retrieve aerial data sets.
#'
#' @details makeAP (make aerial plan) creates either intermediate flight control files for the
#' DJI phantom x UAVs or ready to upload control files for the 3DR Solo/PixHawk flight controller. The
#' DJI control files are designed for using with the proprietary litchi flight
#' control app exchange format, while the 3DR Solo/PixHawk flight controller files are using the MAVLINK
#' common message set, that is used by the PixHawk flight controller family.
#' Both are implemented very rudimentary.\cr\cr DJI:\cr The reason using DJI
#' is their absolute straightforward usage. Everybody can fly with a DJI but
#' the price is a more or less closed system at least in the low budget segment. There are workarounds like the litchi app that provides
#' additionally to a cloud based mission planner an offline/standalone
#' interface to upload a CSV formatted way point file for autonomous flights to
#' the Phantom.\cr\cr PixHawk flight controller/3DR Solo:\cr The open UAV community is focused
#' on the PixHawk autopilot unit and the Mission Planner software. It is well
#' documented and several APIs are provided. Nevertheless a high resolution
#' terrain following flight planning tool for autonomous obstacle avoiding flight missions
#' is not available. `makeAP` creates a straightforward version of MAV format flight control
#' rules that are ready to be uploaded directly on the Pixhawk controller using the `solo_upload` function.\cr\cr
#'
#' @seealso
#' The underlying concept, a tutorial and a field guide can be found in the package vignettes. See `browseVignettes("uavRmp")` or `vignette(package =
#' "uavRmp")` or
#' at [Github uavRmp manual](https://gisma.github.io/uavRmp/articles/uavRmp_1.html)).
#'
#' @section Warning: Take care! There are still a lot of construction zones
#' around. This script is far beyond to be in a mature state. Please control
#' and backup all controls again while planning and performing autonomous
#' flight plans and missions. You will have a lot of chances to make a small
#' mistake what may yield in a damage of your UAV or even worse in involving
#' people, animals or non-cash assets. Check your risk, use parachute systems
#' and even if it is running like a charm, keep alert!
#' @param projectDir `character` path to the main folder where several locations can be hosted, default is `tempdir()`
#' @param locationName `character` path to the location folder where all tasks of this plot are hosted, default is `"flightArea"`
#' @param surveyArea you may provide either the coordinates by
#' c(lon1,lat1,lon2,lat2,lon3,lat3,launchLat,launchLon) or
#' an OGR compatible file (prefunable to find an inherited method for function ‘makeAP’ for signature ‘"missing"’erably geoJSON or KML) with
#' at least 4 coordinates that describe the flight area.
#' The fourth coordinate is the launch position.
#' You will find further explanation under seealso.
#' @param launchAltitude absolute altitude of launching position.
#' It will overwrite the DEM based estimation if any other value than -9999
#' @param demFn filename of the corresponding DEM data file.
#' @param followSurface `boolean` TRUE performs an altitude correction
#' of the mission's flight altitude using additional DEM data.
#' If no DEM data is provided and `followSurface` is TRUE,
#' SRTM data will be downloaded and used.
#' Further explanation at seealso
#' @param altFilter if `followSurface` is equal `TRUE` then
#' `altFilter` is the threshold value of accepted altitude difference (m) between two way points.
#' If this value is not exceeded, the way point is omitted due to the fact that only 99 way points per mission are allowed.
#' @param followSurfaceRes horizontal step distance for analyzing the DEM altitudes
#' @param horizonFilter integer filter size of the rolling filter kernel for the flight track. Must be multiplied by the `followSurfaceRes` to get the spatial extent
#' @param flightPlanMode type of flight plan. Available are: `"waypoints"`,
#' `"track"`, `"manual"`.
#' @param useMP default is FALSE switches to use a missionplanner/Qgroundcontrolplanner survey as planning base
#' @param presetFlightTask (DJI only) strongly recommended to use "remote"
#' \cr
#' Options are:
#' `"simple_ortho"` takes one picture/way point,
#' `"multi_ortho"` takes 4 picture at a waypoint, two vertically down and two in forward and backward viewing direction and an angle of -60deg,
#' `"simple_pano"` takes a 360 deg panorama picture and
#' `"remote"` which assumes that the camera is controlled by the remote control (RC)
#' @param flightAltitude set the default flight altitude of the mission. It is
#' assumed that the UAV is started at the highest point of the surveyArea
#' otherwise you have to defined the position of launching.
#' @param overlap overlapping of the pictures in percent (1.0 = 100)
#' @param maxwaypoints maximal number of waypoints for Litchi default is 90
#' @param above_ground Litchi setting if the waypoint altitudes are interpreted as AGL default = FALSE
#' @param djiBasic c(0,0,0,-90)
#' \cr curvesize (DJI only) controls the curve angle of the uav passing way points.
#' By default it is set to (`= 0.0`).
#' \cr rotationdir (DJI only) camera control parameter set the UAV basic turn direction to right (0) or left (1)
#' \cr gimbalmode (DJI only) camera control parameter
#' `0` deactivates the gimbal control
#' `1` activates the gimbal for focusing POIs
#' `2` activates the gimbal for focus and interpolate a field of view in an angel of `gimbalpitchangle`
#' \cr gimbalpitchangle (DJI only) vertical angle of camera `+30 deg..-90 deg`
#' \cr actiontype (DJI only) individual actionype settings of the camera c(1,1,...)
#' \cr actionparam (DJI only) corresponding parameter for the above individual actiontype c(0,0,...)
#' `uavViewDir` viewing direction of camera default is `0`
#' @param maxSpeed cruising speed
# #' @param heatMap switch for calculating the overlapping factor on a raster map
#' @param picFootprint switch for calculating the footprint at all way points
#' @param picRate fastest stable interval (s) for shooting pictures
#' @param windCondition 1= calm 2= light air 1-5km/h, 3= light breeze 6-11km/h, 4=gentle breeze 12-19km/h 5= moderate breeze 20-28km/h
#' @param copy copy switch
#' @param cmd mavlink command
#' @param noFiles manual split number of files
#' @param buf_mult multiplier for defining the zone in which the waypoints are assumed to be turning waypoints according to buf_mult * `followSurfaceRes`
#' @param uavViewDir view direction of uav
#' @param maxFlightTime user defined estimation of the lipo lifetime (20 min default)
#' @param rcRange range of estimated range of remote control
#' @param uavType type of UAV. currently "dji_csv" for Litchi CSV export and "pixhawk" for MAVlink compatible flightplans are supported
#' @param dA if TRUE the real extent of the used DEM is returned helpful for low altitudes flight planning
#' @param cameraType depending on the UAV Platform and integrated camera choose for DJI Mini 1/2/3, Phantom 3/Phantom 4 , Inspire 1) the `dji43` and for the DJI Air 2S the `dji32` tag. For GoPro action cams on whatever aircraft you can choose `GP3_7MP` or `GP3_11MP`. Flying the Mapir 2 camera choose `MAPIR2`. For the E90X camera of Yuneec you choose `YUN90`. Please note the calculation of the flight pathes is done via the ratio of vertical and horizontal resolution of the camera in the NON 16:9 and Landscape Modus.
#' @param runDir `character` runtime folder
#' @param gdalLink link to GDAL binaries
#'
#' @examples
#'\dontrun{
#' # Depending on the arguments, the following spatial data sets can be returned:
#'
#' # lp the planned launching position of the UAV.
#' # wp waypoints inclusive all information
#' # oDEM the original (input) digital surface model (DSM)
#' # rDEM the resampled (used) DSM
#' # fp optimized footprints of the camera
#' # fA flight area with at least 2 overlaps
#' # rcA area covered by the RC according to the range and line of sight
#'
#' ## for visualisation and vecDraw load mapview
#' require(mapview)
#'
#' ## (1) get example DEM data
#' demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#' tutorial_flightArea <- system.file("extdata", "flightarea.kml", package = "uavRmp")
#'
#' ## (2) simple flight, 100 meters above ground
#' ## assuming a flat topography,
#'
#' fp <- makeAP(surveyArea = tutorial_flightArea,
#' demFn = demFn)
#'
#' ## (3) typical real case scenario (1)
#' ## A flight altitudes BELOW 50 m is ambitious and risky
#' ## You have to use a high quality high resulution DSM
#' ## (here simulated with a standard DEM)
#'
#'fp <- makeAP(surveyArea=tutorial_flightArea,
#' followSurface = TRUE,
#' flightAltitude = 45,
#' demFn = demFn,
#' windCondition = 1,
#' uavType = "dji_csv",cameraType = "dji32",
#' followSurfaceRes = 5,
#' altFilter = .75)
#'
#'
#' ## (4) typical real case scenario (2)
#' ## A flight altitudes BELOW 50 m is ambitious and risky
#' ## You have to use a high quality high resolution DSM
#' ## (here simulated with a standard DEM)
#' ## NOTE All settings are taken from QGroundcontrol so adapt the survey settings according
#' ## to "calc above terain" and use the "YUN90" camera tag for camera flight speed etc.
#' ## NOTE EXPERIMENTAL
#'
#'demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#'tutorial_flightArea <- system.file("extdata", "tutdata_qgc_survey.plan", package = "uavRmp")
#'fp <- makeAP(surveyArea=tutorial_flightArea,
#' useMP = TRUE,
#' followSurface = TRUE,
#' demFn = demFn,
#' windCondition = 1,
#' uavType = "pixhawk",
#' cameraType = "YUN90",
#' followSurfaceRes = 5,
#' altFilter = .75)
#'
#' ## (5) typical real case scenario (3)
#' ## This examples uses a flight planning from the QGroundcotrol Survey planning tool
#' ## It also used the all calculations for camera flight speed etc.
#' ## The flight plan is modyfied by splitting up the task according to 99 Waypoints
#' ## and flight time and saved as litchi csv format
#' ## NOTE EXPERIMENTAL tested with DJI mavic mini 2
#'
#'demFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#'tutorial_flightArea <- system.file("extdata", "tutdata_qgc_survey.plan", package = "uavRmp")
#'fp <- makeAP(surveyArea=tutorial_flightArea,
#' useMP = TRUE,
#' demFn = demFn,
#' maxFlightTime = 25,
#' cameraType = "dji32",
#' uavType = "dji_csv")
#'
#' ## call a simple shiny interface
#' shiny::runApp(system.file("shiny/plan2litchi/", "app.R", package = "uavRmp"))
#'
#'
#' ## (6) view results
#'
#'mapview::mapview(fp$wp,cex=4, lwd=0.5)+
#'mapview::mapview(fp$lp,color = "red", lwd=1,cex=4)+
#'mapview::mapview(fp$fA,color="blue", alpha.regions = 0.1,lwd=0.5)+
#'mapview::mapview(fp$oDEM,col=terrain.colors(256))
#'
#'
#'
#' ## (6) digitize flight area using the small "onboard" tool vecDraw()
#' ## save vectors as "kml" or "json" files
#' ## provide full filename + extension!
#'
#'
#' vecDraw(preset="uav")
#'}
#' @export makeAP
#'
makeAP <- function(projectDir = tempdir(),
locationName = "flightArea",
surveyArea = NULL,
flightAltitude = 100,
launchAltitude = NULL,
followSurface = FALSE,
followSurfaceRes = 25,
demFn = NULL,
noFiles = 1,
altFilter = 1.0,
horizonFilter = 30,
flightPlanMode = "track",
useMP = FALSE,
presetFlightTask = "remote",
overlap = 0.8,
maxSpeed = 20.0,
maxFlightTime = 10,
picRate = 2,
windCondition = 0,
uavType = "pixhawk",
cameraType = "MAPIR2",
buf_mult =1.5,
cmd=16,
uavViewDir = 0,
maxwaypoints = 9999,
above_ground = FALSE,
djiBasic = c(0, 0, 0,-90, 0),
dA = FALSE,
#heatMap = FALSE,
picFootprint = FALSE,
rcRange = NULL,
copy = FALSE,
runDir=tempdir(),
gdalLink=NULL)
{
### setup environ and params
cat("setup environ and params...\n")
nofiles=1
if (useMP & horizonFilter > 10) horizonFilter = 3
if (useMP) followSurface = TRUE
options(warn=0)
# assign flight mission name
#locationName <- file.path(locationName,"missions")
if (substr(projectDir,nchar(projectDir),nchar(projectDir)) == "/") projectDir <- substr(projectDir,1,nchar(projectDir)-1)
else if (substr(projectDir,nchar(projectDir),nchar(projectDir)) == "\\") projectDir <- substr(projectDir,1,nchar(projectDir)-1)
projstru <- setProjStructure (projectDir,
locationName,
flightAltitude,
uavType,
cameraType,
surveyArea,
demFn,
copy)
dateString <- projstru[3]
taskName <- projstru[2]
csvFn <- projstru[1]
## create log file
logger <- log4r::create.logger(logfile = paste0(file.path(projectDir, locationName, dateString, "fp-data/log/"),strsplit(basename(taskName[[1]]), "\\.")[[1]][1],'.log'))
log4r::level(logger) <- "INFO"
log4r::levellog(logger,'INFO',"--------------------- START RUN ---------------------------")
log4r::levellog(logger, 'INFO', paste("Working folder: ", file.path(projectDir, locationName, dateString)))
## need picfootprint for calculating the heatmap
# if (heatMap) { picFootprint = TRUE }
## uav platform depending parameter setting
if (uavType == "dji_csv") {
if (cameraType=="MAPIR2" | cameraType == "YUN90") {
cameraType = "dji43"
message("set cameraType to dji43")
log4r::levellog(logger, 'INFO', paste("force cameratype to : 'dji4'3"))
}
if (cameraType == "dji43"){
factor <- 1.33 # FOV ratio
} else if (cameraType == "dji32"){
factor <- 1.5 # FOV ratio
}
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = overlap,
curvesize = djiBasic[1], # curvesize
rotationdir = djiBasic[2], # rotationdir
gimbalmode = djiBasic[3], # gimbalmode
gimbalpitchangle = djiBasic[4], # gimbalpitchangle
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
#calc & assign overlapping factor as a function of flightAltitude
fliAltRatio <- 1 - overlap
# FOV*agl*(1-overlap)
uavOptimumSpeed <- ceiling(factor * flightAltitude * fliAltRatio)
}
else if (uavType == "pixhawk") {
if (cameraType == "MAPIR2") {
factor <- 1.55
} else if (cameraType == "GP3_7MP") {
factor <- 1.31
} else if (cameraType == "GP3_11MP") {
factor <-1.71
} else if (cameraType == "YUN90") {
factor <-1.5
}
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = overlap,
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
#calc & assign overlapping factor as a function of flightAltitude
fliAltRatio <- 1 - overlap
# FOV*agl*(1-overlap)
uavOptimumSpeed <- ceiling(factor * flightAltitude * fliAltRatio)
}
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
# if missionplanner survey plan is used
if (useMP) {
#browser()
t<-jsonlite::fromJSON(surveyArea)
listPos<-grep("command", t$mission$items$TransectStyleComplexItem$Items)
tmp<- t$mission$items$TransectStyleComplexItem$Items[listPos][[1]]
#length(tmp$params[[60]])
#tmp$params[[1]][5:6]
coord<-tmp[tmp["command"]==16, ]
#coord$params
df_coordinates<-t(as.data.frame(rlist::list.cbind(coord[,"params",])))[,5:6]
# t$mission$items$TransectStyleComplexItem$VisualTransectPoints
tracks<- ceiling(nrow(coord)/4)
trackDistance <- t$mission$items$TransectStyleComplexItem$CameraCalc$AdjustedFootprintFrontal[listPos]
crossDistance <- t$mission$items$TransectStyleComplexItem$CameraCalc$AdjustedFootprintSide[listPos]
totalTrackdistance <- trackDistance
fliAltRatio <- 1 - t$mission$items$TransectStyleComplexItem$CameraCalc$SideOverlap[listPos]/100
flightAltitude <- t$mission$items$TransectStyleComplexItem$CameraCalc$DistanceToSurface[listPos]
# fa_poly=t$mission$items$polygon[3][[1]]
# # p1 = c(fa_poly[1,2],fa_poly[1,1])
# # p2= c(fa_poly[2,2],fa_poly[2,1])
# # p3 = c(fa_poly[3,2],fa_poly[3,1])
# # p4 = c(fa_poly[4,2],fa_poly[4,1])
# # l_dist = geosphere::distGeo(p3,p4)
#maxSpeed <- t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[3]*3.6 #t$mission$cruiseSpeed
# if (length(t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[2]*3.6)!=0) maxSpeed <- t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[2]*3.6
maxSp = t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed[!is.na(t$mission$items$TransectStyleComplexItem$TerrainFlightSpeed)]*3.6
if (length(maxSp) != 0) maxSpeed = maxSp
launchLat <- t$mission$plannedHomePosition[1]
launchLon <- t$mission$plannedHomePosition[2]
updir <- t$mission$items$angle[listPos]
if (updir <= 180) downdir <- updir + 180
else if (updir>180) downdir<- updir -180
crossdir <- geosphere::bearing(c(df_coordinates[2,][2],df_coordinates[2,][1] ),c(df_coordinates[3,][2],df_coordinates[3,][1] ),a = 6378137,f = 1 / 298.257223563)
missionArea <- t$mission$items$polygon[listPos]
# calculate heading from launch position to mission start position
launch2startHeading <- geosphere::bearing(p1 = c(launchLon, launchLat),p2 = c(df_coordinates[1,][2],df_coordinates[1,][1] ),a = 6378137,f = 1 / 298.257223563)
groundResolution<-t$mission$items$TransectStyleComplexItem$CameraCalc$ImageDensity[listPos]
if (crossDistance < followSurfaceRes) followSurfaceRes = crossDistance
if (crossDistance < horizonFilter ) horizonFilter = crossDistance
# set cumulative flightlength to zero
flightLength <- 0
if (uavType == "dji_csv")
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = overlap,
curvesize = djiBasic[1], # curvesize
rotationdir = djiBasic[2], # rotationdir
gimbalmode = djiBasic[3], # gimbalmode
gimbalpitchangle = djiBasic[4], # gimbalpitchangle
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
if (uavType == "pixhawk")
flightParams = c(flightPlanMode = flightPlanMode,
launchAltitude = launchAltitude,
flightAltitude = flightAltitude,
presetFlightTask = presetFlightTask,
overlap = 1- fliAltRatio ,
uavViewDir = uavViewDir,
followSurfaceRes = followSurfaceRes)
p <- makeFlightParam( c(missionArea[[1]][1],missionArea[[1]][5],
missionArea[[1]][2],missionArea[[1]][6] ,
missionArea[[1]][3],missionArea[[1]][7] ,
launchLat, launchLon),
flightParams, followSurface)
mode<-p$flightPlanMode
# set universal view direction of the uav
if (abs(as.numeric(flightParams["uavViewDir"])) == 0) {
uavViewDir <- updir
}
else {
uavViewDir <- abs(as.numeric(flightParams["uavViewDir"]))
}
## calculate survey area
# create an sp polygon object of the mission area
# your data (removed crs column)
# browser()
tarea <- data.table::data.table(
longitude= as.data.frame(t$mission$items$polygon[listPos][1])[,2],
latitude=as.data.frame(t$mission$items$polygon[listPos][1])[,1])
tarea = sf::st_as_sf(tarea, coords = c("longitude", "latitude"),
crs = 4326)
tarea<- sf::st_bbox(tarea)
taskArea<-sf::st_as_sfc(sf::st_bbox(tarea))
taskAreaUTM <- sf::st_transform(taskArea, 4326)
# reproject it to UTM
#taskAreaUTM <- sp::spTransform(taskArea, sp::CRS(paste("+proj=utm +zone=",long2UTMzone(p$lon1)," ellps=WGS84",sep = '')))
# calculate area
surveyAreaUTM <- sf::st_area(taskAreaUTM)
#########################################
#########################
# initialize jiDF and mav
djiDF <- data.frame()
mavDF <- data.frame()
#set initial heading
heading <- updir
# define output line var
lns <- list()
lns <- launch2flightalt(p, lns, uavViewDir, launch2startHeading, uavType,above_ground=above_ground)
# assign starting point
pos <- c(df_coordinates[1,][2],df_coordinates[1,][1])
footprint <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
footprint = sf::st_transform(sf::st_as_sf(footprint),crs = 25832)
#footprint<- sp::spTransform(footprint,sp::CRS("+init=epsg:25832"))
landscape<-abs(abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3])*overlap-abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3]))
portrait<- abs(abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4])*overlap-abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4]))
# calculates the footprint of the first position and returns a SpatialPolygonsDataFrame
if (picFootprint) camera <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
else camera = "NULL"
# ## creates the export control parameter set of the first position
# if (uavType == "dji_csv") {
# lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
# }
#
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1], head = uavViewDir, group = 99 )
}
# push pos to old pos
pOld <- pos
if (uavType == "pixhawk") {
# set counter and params for mode = "track" mode
if (mode == "track") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
# trackDistance <- len
multiply <- 1
}
## set counter and params for mode = "waypoints"
else if (mode == "waypoints") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
}
## set counter and params for mode = "terrainTrack"
else if (mode == "terrainTrack")
group = 99 }
group = 99
df_coord<-data.frame(df_coordinates)
df_coord = spatialEco::insert(df_coord,MARGIN = 1,value = c(pos[2], pos[1]), idx=1)
names(df_coord)<-c("lat","lon")
df_coord$heading=0
df_coord$len=0
df_coord$multiply=1
for (j in 1:(nrow(df_coord))) {
j2 = j+1
goal_pos = c(df_coord$lon[j2],df_coord$lat[j2])
start_pos = c(df_coord$lon[j],df_coord$lat[j] )
if (j==nrow(df_coord)) {
goal_pos= c(df_coord$lon[j] ,df_coord$lat[j] )
start_pos=c(df_coord$lon[j],df_coord$lat[j] )
}
df_coord$heading[j] <- round(geosphere::bearing(start_pos, goal_pos,a = 6378137,f = 1 / 298.257223563),digits = 0)
df_coord$len[j] <- geosphere::distGeo(start_pos, goal_pos,a = 6378137,f = 1 / 298.257223563)
df_coord$multiply[j] <- floor(df_coord$len[j] / followSurfaceRes)
max_len = max(df_coord$len[j] * followSurfaceRes, followSurfaceRes)
}
## now start calculating the waypoints according to the resolution
cat("calculating waypoints...\n")
pb <- pb <- utils::txtProgressBar(max = tracks, style = 3)
# then do for the rest forward and backward
pOld<- c(df_coord$lon[1],df_coord$lat[1])
df_coord$group = 99
for (j in 1:(nrow(df_coord))) {
# for (i in seq(1:df_coord$multiply[j])) { mode == "terrainTrack"
# if (mode == "waypoints" || mode == "track") {
# group <- 1
# if (df_coord$multiply[j] < 1 || is.na(df_coord$multiply[j])) {group <- 99}}
# else {group <- 1}}
#else {i <- 2}
# calc next coordinate
if (j < nrow(df_coord))
dist = geosphere::distGeo(pOld, c(df_coord$lon[j+1],df_coord$lat[j+1]),a = 6378137,f = 1 / 298.257223563)
postiterator = floor(dist/followSurfaceRes)
if ( postiterator <= 2) postiterator=1
#print(postiterator)
for (jj in 1:postiterator) {
group=1
postmp <- calcNextPos(pOld[1], pOld[2], df_coord$heading[j], followSurfaceRes)
dfpos = data.frame(
lat=postmp[2],
long=postmp[1])
df_coord_pos = data.frame(
lat=df_coord$lat[j],
long=df_coord$lon[j])
df_coord_pos = sf::st_as_sf(df_coord_pos, coords = c("long","lat"),remove = FALSE)
pos = sf::st_as_sf(dfpos, coords = c("long","lat"),remove = FALSE)
intersect=sf::st_intersection(sf::st_buffer(pos,dist = followSurfaceRes),df_coord_pos)
if (nrow(intersect)>0)
{
pos = sf::st_coordinates(df_coord_pos)
group = 99
#j= j+1
}
if (j==nrow(df_coord))pos <- calcNextPos(pOld[1], pOld[2], df_coord$heading[j], max_len )
flightLength <- flightLength + followSurfaceRes
if (mode == "track") {
group <- 99
}
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = group, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2], lon = pos[1], head = uavViewDir, group = group)
}
pOld <- pos
}
# status bar
utils::setTxtProgressBar(pb, j)
}
close(pb)
fileConn <- file(file.path(runDir,"del.csv"))
writeLines(unlist(lns[1:length(lns)]), fileConn)
djiDF <- utils::read.csv(file.path(runDir,"del.csv"), sep = ",", header = FALSE)
# add correct header
names(djiDF) <-unlist(strsplit(makeUavPoint(pos,uavViewDir,group =group,p,header = TRUE,sep = ','),split = ","))
df_coord_pos = sf::st_as_sf(djiDF, coords = c("lon","lat"),remove = FALSE)
r6 = st_difference(df_coord_pos)
}
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
#-----------------------------------------------------------------------------------------------
else if (!useMP){
## get survey area
##
surveyArea <- calcSurveyArea(surveyArea, projectDir, logger, useMP)
# adapt default flight params to runtime request
p <- makeFlightParam(surveyArea, flightParams, followSurface)
# assign flightmode
mode <- as.character(p$flightPlanMode)
# assign flight Altitude
flightAltitude <- as.numeric(flightParams["flightAltitude"])
# calc distance between two pictures using a camera dependent multiplicator
trackDistance <- calcTrackDistance(fliAltRatio, flightAltitude, factor)
totalTrackdistance <- trackDistance
# pictures are assumed as squares
crossDistance <- trackDistance
#browser()
## calculate survey area
# create an sp polygon object of the mission area
taskArea <- taskarea(p, csvFn)
mapview::mapview( taskArea)
# reproject it to UTM
ta=sf::st_as_sf(taskArea)
ta=sf::st_transform(ta,crs = paste("+proj=utm +zone=",long2UTMzone(p$lon1)," ellps=WGS84",sep = ''))
# taskAreaUTM <- as(ta, "Spatial") # rgeos
# calculate area
surveyAreaUTM <- sf::st_area(ta) # rgeos
## now do old planning stuff
# calculate heading from launch position to mission start position
launch2startHeading <- geosphere::bearing(c(p$launchLon, p$launchLat),c(p$lon1, p$lat1),a = 6378137,f = 1 / 298.257223563)
# calculate and assign heading base flight track W-E
updir <- geosphere::bearing(c(p$lon1, p$lat1),c(p$lon2, p$lat2),a = 6378137,f = 1 / 298.257223563)
# calculate and assign heading base flight track E-W
downdir <- geosphere::bearing(c(p$lon2, p$lat2),c(p$lon1, p$lat1),a = 6378137,f = 1 / 298.257223563)
# calculate and assign heading base flight track trackline to trackline
crossdir <- geosphere::bearing(c(p$lon2, p$lat2),c(p$lon3, p$lat3),a = 6378137,f = 1 / 298.257223563)
# calculate and assign distance of the base flight track
len <- geosphere::distGeo(c(p$lon1, p$lat1), c(p$lon2, p$lat2))
# calculate and assign distance of the cross base flight track
crosslen <- distGeo(c(p$lon2, p$lat2),c(p$lon3, p$lat3),a = 6378137,f = 1 / 298.257223563)
if (is.null(followSurfaceRes)) {
followSurfaceRes <- trackDistance
p$followSurfaceRes <- followSurfaceRes
}
# IF followSurface set track/crossDistance to followSurfaceRes
if (followSurface) {
multiply <- floor(len / followSurfaceRes)
trackDistance <- followSurfaceRes
#crossDistance<-followSurfaceRes
} else{
multiply <- floor(len / trackDistance)
}
# calculate and assign number of tracklines
tracks <- floor(crosslen / crossDistance)
#set initial heading
heading <- updir
# set universal view direction of the uav
if (abs(as.numeric(flightParams["uavViewDir"])) == 0) {
uavViewDir <- updir
}
else {
uavViewDir <- abs(as.numeric(flightParams["uavViewDir"]))
}
# init of control id #1 common #99 turnpoints of single tracks
group <- 1
# set cumulative flightlength to zero
flightLength <- 0
# initialize djiDF and mav
djiDF <- data.frame()
mavDF <- data.frame()
# define output line var
lns <- list()
lns <- launch2flightalt(p, lns, uavViewDir, launch2startHeading, uavType,above_ground=above_ground)
# assign starting point
pos <- c(p$lon1, p$lat1)
footprint <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
footprint = sf::st_transform(sf::st_as_sf(footprint),crs = 25832)
#footprint<- sp::spTransform(footprint,sp::CRS("+proj=utm +zone=32 +ellps=GRS80 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"))
landscape<-abs(abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3])*overlap-abs(sf::st_bbox(footprint)[1]-sf::st_bbox(footprint)[3]))
portrait<- abs(abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4])*overlap-abs(sf::st_bbox(footprint)[2]-sf::st_bbox(footprint)[4]))
# calculates the footprint of the first position and returns a SpatialPolygonsDataFrame
if (picFootprint) camera <- calcCamFoot(pos[1], pos[2], uavViewDir, trackDistance, flightAltitude, 0, 0,factor)
else camera = "NULL"
## creates the export control parameter set of the first position
##
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1], head = uavViewDir, group = 99 )
}
# push pos to old pos
pOld <- pos
## set counter and params for mode = "track" mode
if (mode == "track") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
#trackDistance <- len
multiply <- 1
}
## set counter and params for mode = "waypoints"
else if (mode == "waypoints") {
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2],lon = pos[1],head = uavViewDir,group = 99)
}
}
## set counter and params for mode = "terrainTrack"
else if (mode == "terrainTrack") group = 99
#########################################
#########################
## now start calculating the waypoints according to the resolution
cat("calculating waypoints...\n")
pb <- pb <- utils::txtProgressBar(max = tracks, style = 3)
# then do for the rest forward and backward
for (j in seq(1:tracks)) {
for (i in seq(1:multiply)) {
if (mode == "waypoints" || mode == "terrainTrack") {
if (i >= multiply) {
group <- 99
}
else {
group <- 1
}
}
else {
i <- 2
}
# calc next coordinate
pos <- calcNextPos(pOld[1], pOld[2], heading, trackDistance)
if (picFootprint) camera <- sf::st_polygon(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance, flightAltitude,i,j,factor)) #maptools::spRbind(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance, flightAltitude,i,j,factor))
pOld <- pos
flightLength <- flightLength + trackDistance
if (mode == "track") {
group <- 99
}
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = group, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV(lat = pos[2], lon = pos[1], head = uavViewDir, group = group)
}
}
if ((j %% 2 != 0)) {
pos <- calcNextPos(pOld[1], pOld[2], crossdir, crossDistance)
if (picFootprint) camera <- sf::st_polygon(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance,flightAltitude,i,j,factor)) #maptools::spRbind(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance,flightAltitude,i,j,factor))
pOld <- pos
flightLength <- flightLength + crossDistance
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <-
makeUavPointMAV(
lat = pos[2],
lon = pos[1],
head = uavViewDir,
group = 99
)
}
heading <- downdir
}
else if ((j %% 2 == 0)) {
pos <- calcNextPos(pOld[1], pOld[2], crossdir, crossDistance)
if (picFootprint) camera <- sf::st_polygon(camera, calcCamFoot( pos[1], pos[2], uavViewDir, trackDistance,flightAltitude,i,j,factor)) #maptools::spRbind(camera, calcCamFoot( pos[1], pos[2], uavViewDir,trackDistance,flightAltitude,i,j,factor))
pOld <- pos
flightLength <- flightLength + crossDistance
if (uavType == "dji_csv") {
lns[length(lns) + 1] <- makeUavPoint(pos, uavViewDir, group = 99, p,ag=above_ground)
heading <- updir
}
if (uavType == "pixhawk") {
lns[length(lns) + 1] <- makeUavPointMAV( lat = pos[2], lon = pos[1], head = uavViewDir - 180, group = 99)
heading <- updir
}
}
# status bar
utils::setTxtProgressBar(pb, j)
}
close(pb)
}
if (uavType == "dji_csv") {
#browser()
fileConn <- file(file.path(runDir,"del2.csv"))
writeLines(unlist(lns[1:length(lns)]), fileConn)
djiDF <- utils::read.csv(file.path(runDir,"del2.csv"), sep = ",", header = FALSE)
# add correct header
# if (!followSurface){
# djiDF1= djiDF[1:3,]
# t1=nrow(djiDF)-3
# t2=nrow(djiDF)-0
# djiDF2= djiDF[t1:t2,]
# djiDinner= djiDF1[4:length(djiDF-4),]
# }
names(djiDF) <-unlist(strsplit(makeUavPoint(pos,uavViewDir,group =group,p,header = TRUE,sep = ','),split = ","))
djiDF=djiDF[,-(1:2)]
# df_coord_pos = sf::st_as_sf(djiDF, coords = c("lon","lat"),remove = TRUE)
# r6 = st_difference(df_coord_pos)
}
##########################
##########################################
#browser()
#estimate time regarding parameter
ft <- calculateFlightTime( maxFlightTime,
windCondition,
maxSpeed,
uavOptimumSpeed,
flightLength,
totalTrackdistance,
picRate,
logger)
rawTime <- ft[1]
maxFlightTime <- ft[2]
maxSpeed <- ft[3]
picIntervall <- ft[4]
# postprocessing
fileConn <- file(file.path(runDir,"tmp.csv"))
cat("preprocessing DEM related stuff...\n")
if (uavType == "dji_csv") {
if (!exists("r6")){
#browser()
# dump lns to file for read in as csv
writeLines(unlist(lns[1:length(lns)]), fileConn)
djiDF <- utils::read.csv(file.path(runDir,"tmp.csv"), sep = ",", header = FALSE)
# add correct header
names(djiDF) <-unlist(strsplit(makeUavPoint(pos,uavViewDir,group =group,p,header = TRUE,sep = ','),split = ","))
# make it spatial
sp::coordinates(djiDF) <- ~ lon + lat
sp::proj4string(djiDF) <- sp::CRS("+proj=longlat +datum=WGS84 +no_defs")
# now DEM stuff
} else {
sf::st_crs(r6)=4326
djiDF=as(r6,"Spatial")
}
result <- analyzeDSM(useMP=useMP,demFn,djiDF,p,altFilter,horizonFilter,followSurface,followSurfaceRes,logger,projectDir,dA,dateString,locationName,runDir,taskarea=taskArea,gdalLink,buf_mult=buf_mult)
# assign adapted dem to demFn
demFn <- result[[3]]
dfcor <- result[[2]]
# max numbers of dji waypoints is due to factory limits 98
# according to start and rth safety we need 6 points for organizig the splitted task
nofiles <- ceiling(nrow(dfcor@data) / maxwaypoints)
maxPoints <- maxwaypoints
minPoints <- 1
# check if the flighttime is forcing more files
if (nofiles < noFiles) {
nofiles <- noFiles
maxPoints <- ceiling(nrow(dfcor@data) / nofiles) + 1
mp <- maxPoints
minPoints <- 1
}
# start the creation of the control file(s)
cat('generate control files...\n')
# generate single tasks waypoint file for DJI Litchi import format
calcDjiTask( result[[2]],taskName,nofiles,maxPoints,p,logger, round(result[[6]], digits = 0), trackSwitch=FALSE,file.path(runDir,"demll.tif"),result[[8]], projectDir,dateString,locationName,runDir)
}
else if (uavType == "pixhawk") {
writeLines(unlist(lns), fileConn)
mavDF <- utils::read.csv(file.path(runDir,"tmp.csv"), colClasses=c("V4"="character",
"V5"="character",
"V6"="character",
"V7"="character"),sep = "\t", header = FALSE)
names(mavDF) <- c("a","b","c","d","e","f","g","latitude","longitude","altitude","id","j","lat","lon")
sp::coordinates(mavDF) <- ~ lon + lat
sp::proj4string(mavDF) <- sp::CRS("+proj=longlat +datum=WGS84 +no_defs")
if (is.null(launchAltitude)) {
# analyze DEM related stuff
result <- analyzeDSM(useMP=useMP,demFn,mavDF,p,altFilter,horizonFilter ,followSurface,followSurfaceRes,logger,projectDir,dA,dateString,locationName,runDir,taskArea,gdalLink,buf_mult=buf_mult)
# assign adapted dem to demFn
lauchPos <- result[[1]]
dfcor <- result[[2]]
demFn <- result[[3]]
if (noFiles > nofiles)
{nofiles <- ceiling(rawTime / maxFlightTime)} else {nofiles = noFiles}
maxPoints <- ceiling(nrow(dfcor@data) / nofiles) + 1
}
# generate single tasks waypoint file for MAV pixhawk format
calcMAVTask(result[[2]],
taskName,
nofiles,
rawTime,
mode,
trackDistance,
maxFlightTime,
logger,
p,
len,
multiply,
tracks,
result,
maxSpeed / 3.6,
uavType,
file.path(runDir,"flightDEM.tif"),
maxAlt = result[[6]],
projectDir,
dateString,
locationName,
uavViewDir,
cmd,
runDir)
}
close(fileConn)
# # if heatMap is requested
# if (heatMap) {
# cat("calculating picture coverage heat map\n")
# fovH <- calcFovHeatmap(camera, result[[4]])
# } else
# {
# fovH <- "NULL"
# }
# call rcShed
##if (!is.null(rcRange)) {
## cat("calculating RC-range\n")
## rcCover <-
## rcShed(
## launchP = c(as.numeric(p$launchLon), as.numeric(p$launchLat)),
## flightAlt = as.numeric(p$flightAltitude),
## rcRange = rcRange,
## dem = result[[4]]
## )
##} else {
rcCover = "NULL"
##}
# write log file status and params
log4r::levellog(logger, 'INFO', paste("taskName : ", taskName))
log4r::levellog(logger, 'INFO', paste("DEM filename : ", names(demFn)))
log4r::levellog(logger, 'INFO', paste("surveyArea : ", surveyAreaUTM))
log4r::levellog(logger, 'INFO', paste("launchAltitude : ", launchAltitude))
log4r::levellog(logger, 'INFO', paste("followSurface : ", followSurface))
log4r::levellog(logger, 'INFO', paste("altfilter : ", altFilter))
log4r::levellog(logger, 'INFO', paste("horizonFilter : ", horizonFilter))
log4r::levellog(logger, 'INFO', paste("flightPlanMode : ", flightPlanMode))
log4r::levellog(logger, 'INFO', paste("flightAltitude : ", flightAltitude))
log4r::levellog(logger, 'INFO', paste("presetFlightTask: ", presetFlightTask))
log4r::levellog(logger, 'INFO', paste("curvesize : ", p$curvesize))
if (uavType == "dji_csv"){
log4r::levellog(logger, 'INFO', paste("rotationdir : ", p$rotationdir))
log4r::levellog(logger, 'INFO', paste("gimbalmode : ", p$gimbalmode))
log4r::levellog(logger, 'INFO',paste("gimbalpitchangle: ", p$gimbalpitchangle))
}
log4r::levellog(logger, 'INFO', paste("overlap : ", overlap))
log4r::levellog(logger, 'INFO', paste("uavViewDir : ", uavViewDir))
log4r::levellog(logger, 'INFO', paste("picFootprint : ", picFootprint))
log4r::levellog(logger,'INFO',paste("followSurfaceRes: ", followSurfaceRes))
log4r::levellog(logger, 'INFO', paste("surveyAreaCoords: ", list(surveyArea)))
log4r::levellog(logger, 'INFO', paste("windCondition : ", windCondition))
log4r::levellog(logger,'INFO',paste("calculated mission time : ", rawTime, " (min) "))
log4r::levellog(logger,'INFO',paste("estimated battery lifetime : ", maxFlightTime, " (min) "))
log4r::levellog(logger,'INFO',paste("Area covered : ", surveyAreaUTM / 10000, " (ha)"))
log4r::levellog(logger, 'INFO', "-")
log4r::levellog(logger,'INFO',"----- use the following task params! --------------")
log4r::levellog(logger,'INFO',paste("RTH flight altitude: ", round(result[[6]], digits = 0), " (m)"))
log4r::levellog(logger,'INFO',paste("max flight speed : ",round(maxSpeed, digits = 1)," (km/h) "))
log4r::levellog(logger,'INFO',paste("picture lapse rate : ", picIntervall, " (sec/pic) "))
log4r::levellog(logger, 'INFO', paste("trigger distance portrait : ", portrait))
log4r::levellog(logger, 'INFO', paste("trigger distance landscape : ", landscape))
log4r::levellog(logger,'INFO',"--------------------- END RUN -----------------------------")
# return params for visualisation and main results for overview
if ((flightPlanMode == 'track' | flightPlanMode == 'terrainTrack') & rawTime > maxFlightTime) {
note <- "flighttime > battery lifetime! control files have been splitted. \n Fly save and have Fun..."
}
else if (flightPlanMode == 'waypoints') {
note <- "control files are splitted after max 98 waypoints (litchi control file restricted number)"
}
else { note <- " Fly save and have Fun..." }
dumpFile(paste0(file.path(projectDir, locationName, dateString, "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'))
cat("\n ",
"\n NOTE 1:",as.character(note),"",
"\n NOTE 2: You will find all parameters in the logfile:",paste0(file.path(projectDir, locationName, dateString, "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'),"","\n ")
x <- c(result[[1]], # launch Pos
result[[2]], # waypoints
result[[5]], # resampled dem contour
result[[3]], # original DEM
result[[4]], # resampled dem
camera, # camera footprint (DJI only)
taskArea, # Area of flight task
rcCover) #, # Estimated area that is covered by RC
# fovH) # Heatmap of overlapping Pictures
names(x) <- c("lp", "wp", "demA", "oDEM", "rDEM", "fp", "fA", "rcA")
system(paste0("rm -rf ",file.path(projectDir,locationName,dateString,"fp-data/run")))
return(x)
}
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