Drone Visual Odometry Control System

This is a modular drone control system that combines visual odometry, real-time visualization, and keyboard input for drone navigation.

File Structure

├── __init__.py                    # Package initialization
├── main.py                        # Main coordination logic
├── config.py                      # Configuration constants
├── input_handler.py               # Pygame keyboard input handling
├── gui_display.py                 # Real-time visualization (matplotlib + OpenCV)
├── drone_controller.py            # MAVSDK drone control
├── visual_odometry_processor.py   # Computer vision and VO processing
├── utils.py                       # Utility functions (CSV I/O, etc.)
└── VO_test copy.py               # Original monolithic file (for reference)

Components

1. config.py

• Centralized configuration constants
• Easy to modify settings without touching core logic
• Includes AirSim IP, speeds, file paths, timing settings

2. input_handler.py

• Pygame-based keyboard input handling
• Runs in separate thread
• Maps keyboard inputs to velocity commands
• Handles landing command ('L' key)

3. gui_display.py

• Real-time visualization using matplotlib and OpenCV
• Displays drone camera feed with feature points
• Shows live path plot
• Runs in separate thread

4. drone_controller.py

• MAVSDK-based drone control
• Handles connection, arming, takeoff, landing
• Executes velocity commands from input handler
• Async function for non-blocking operation

5. visual_odometry_processor.py

• Processes AirSim camera feed
• Performs visual odometry calculations
• Annotates frames with feature points
• Tracks estimated path
• Async function for real-time processing

6. utils.py

• Helper functions for data I/O
• CSV saving and loading for path data
• Reusable utility functions

7. main.py

• Coordinates all components
• Manages shared state (queues, events, data)
• Orchestrates threads and async tasks
• Handles cleanup and error handling

Usage

From the parent directory, run the system with:

python run_modular_system.py

Or run directly from within the package:

cd drone_vo_system
python -m drone_vo_system.main

Or from the original file:

python "VO_test copy.py"

Controls

• W/S: Forward/Backward
• A/D: Left/Right
• UP/DOWN: Up/Down
• Q/E: Rotate left/right
• L: Land and quit
• Q (in GUI window): Quit

Dependencies

• airsim
• cv2 (OpenCV)
• numpy
• matplotlib
• pygame
• mavsdk
• asyncio
• threading
• queue
• csv