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🇪🇸 Versión en español: DronesAutonomos · 🌐 dronebooks.eu

Autonomous Drones — Code Repository

Companion resources for the books Volume 1: 'Autonomous Drones I: Hardware, Ardupilot, MAVLink' and Volume 2: 'Autonomous Drones II: Robotics, Computer Vision, AI'

GitHub License

About This Repository

This repository contains all example scripts, reference code, training data and installers that accompany the two main DroneBooks volumes.

Target Audience

  • Junior/mid-level engineers specialising in autonomous drones
  • Advanced makers with electronics and programming experience
  • Robotics and Computer Science engineering students

Table of Contents (Preview)

Before buying, you can browse the full index of each volume:

Volume PDF Pages
Autonomous Drones I volume1_index.pdf 7 pp.
Autonomous Drones II volume2_index.pdf 7 pp.

Repository Structure

AutonomousDrones/
│
├── VOLUME-1/                           # Autonomous Drones I
│   ├── volume1_index.pdf               # Full contents index (preview)
│   ├── 01-Hardware/
│   │   └── thrust_calculator.py        # T:W, flight time, KV, propeller
│   ├── 02-Ardupilot/Python/            # 7 scripts: calibrate, waypoints, etc.
│   ├── 03-MAVLink/Python/              # telemetry, read_advanced_telemetry
│   └── Appendices/
│       ├── A1-Git/                     # Git quick reference
│       └── A2-Python/                  # 3 scripts: telemetry, color, advanced
│
├── VOLUME-2/                           # Autonomous Drones II
│   ├── volume2_index.pdf               # Full contents index (preview)
│   ├── 01-ROS2/
│   │   └── install_ros2.sh             # Automatic ROS2 Humble installer
│   ├── 02-OpenCV-YOLO/Python/          # color_detection.py, yolo_detection.py
│   ├── 03-AI-Drones/                   # 5 scripts: optimisation, latency, power, follower, analyser
│   └── Appendices/
│       ├── A1-Git/                     # Git for ROS2 projects
│       └── A2-Cpp/                     # 4 files: publisher, subscriber, bridge MAVLink, CMakeLists
│
├── README.md                           (This file)
├── SCRIPTS_INDEX.md                    (Full catalogue with paths and examples)
└── requirements.txt                    (Global Python dependencies)

Quick Start

Volume 1 (Fundamentals)

# 1. Clone the repo
git clone https://github.com/DroneBooks/AutonomousDrones.git
cd AutonomousDrones

# 2. Install Python dependencies
pip install -r requirements.txt

# 3. Go to Volume 1 scripts
cd VOLUME-1/02-Ardupilot/Python
python3 calibrate_sensors.py

Volume 2 (Robotics & AI)

# 1. Clone the repo
git clone https://github.com/DroneBooks/AutonomousDrones.git
cd AutonomousDrones

# 2. Install ROS2 Humble
bash VOLUME-2/01-ROS2/install_ros2.sh

# 3. Try computer vision
cd VOLUME-2/02-OpenCV-YOLO/Python
python3 yolo_detection.py

Learning Path

Volume 1 — Autonomous Drones I: Hardware, Ardupilot and MAVLink

Read Chapter 1 (Hardware)
    ↓
Run: VOLUME-1/01-Hardware/thrust_calculator.py
    ↓
Read Chapter 2 (Ardupilot)
    ↓
Run: VOLUME-1/02-Ardupilot/Python/calibrate_sensors.py
     VOLUME-1/02-Ardupilot/Python/waypoint_simple.py
    ↓
Read Chapter 3 (MAVLink)
    ↓
Run: VOLUME-1/03-MAVLink/Python/telemetry_reader.py
     VOLUME-1/03-MAVLink/Python/read_advanced_telemetry.py
    ↓
Read Appendix A1 (Git) — reference: VOLUME-1/Appendices/A1-Git/README.md
    ↓
Read Appendix A2 (Python)
    ↓
Run: VOLUME-1/Appendices/A2-Python/telemetry_basic.py
     VOLUME-1/Appendices/A2-Python/advanced_example.py

Volume 2 — Autonomous Drones II: Robotics, Computer Vision and Embedded AI

Read Chapter 1 (ROS2)
    ↓
Run: bash VOLUME-2/01-ROS2/install_ros2.sh
    ↓
Read Chapter 2 (OpenCV + YOLO)
    ↓
Run: VOLUME-2/02-OpenCV-YOLO/Python/color_detection.py red
     VOLUME-2/02-OpenCV-YOLO/Python/yolo_detection.py n
    ↓
Read Chapter 3 (AI in Drones)
    ↓
Run: VOLUME-2/03-AI-Drones/jetson_yolo_optimization.py
     VOLUME-2/03-AI-Drones/latency_benchmark.py
     VOLUME-2/03-AI-Drones/power_monitoring.py
     VOLUME-2/03-AI-Drones/drone_person_follower.py
     VOLUME-2/03-AI-Drones/mission_analyzer.py
    ↓
Read Appendix A1 (Git) — reference: VOLUME-2/Appendices/A1-Git/README.md
    ↓
Read Appendix A2 (C++)
    ↓
Build: VOLUME-2/Appendices/A2-Cpp/publisher_node.cpp  (compile + run)
       VOLUME-2/Appendices/A2-Cpp/subscriber_node.cpp
       VOLUME-2/Appendices/A2-Cpp/bridge_mavlink.cpp

Available Scripts

VOLUME-1 — Autonomous Drones I

Resource Chapter / Appendix Path Description
thrust_calculator.py Ch. 1: Hardware VOLUME-1/01-Hardware/ T:W, flight time, KV, propeller
calibrate_sensors.py Ch. 2: Ardupilot VOLUME-1/02-Ardupilot/Python/ Calibrates IMU, compass, ESC
parameter_configurator.py Ch. 2: Ardupilot VOLUME-1/02-Ardupilot/Python/ Read/write FC parameters
basic_connection.py Ch. 2-3 VOLUME-1/02-Ardupilot/Python/ Connection and basic telemetry
takeoff_land.py Ch. 2-3 VOLUME-1/02-Ardupilot/Python/ Autonomous flight in GUIDED
waypoint_simple.py Ch. 2-3 VOLUME-1/02-Ardupilot/Python/ Mission with 4 waypoints
change_mode.py Ch. 2-3 VOLUME-1/02-Ardupilot/Python/ Change flight modes
geofence_define.py Ch. 2-3 VOLUME-1/02-Ardupilot/Python/ Virtual flight boundary
telemetry_reader.py Ch. 3: MAVLink VOLUME-1/03-MAVLink/Python/ Real-time telemetry
read_advanced_telemetry.py Ch. 3: MAVLink VOLUME-1/03-MAVLink/Python/ Telemetry + CSV export
README.md Appendix A1: Git VOLUME-1/Appendices/A1-Git/ Git quick reference
telemetry_basic.py Appendix A2: Python VOLUME-1/Appendices/A2-Python/ Basic educational telemetry
color_detection_simple.py Appendix A2: Python VOLUME-1/Appendices/A2-Python/ HSV color detection
advanced_example.py Appendix A2: Python VOLUME-1/Appendices/A2-Python/ Telemetry + vision in parallel

VOLUME-2 — Autonomous Drones II

Resource Chapter / Appendix Path Description
install_ros2.sh Ch. 1: ROS2 VOLUME-2/01-ROS2/ ROS2 Humble installer
color_detection.py Ch. 2: OpenCV+YOLO VOLUME-2/02-OpenCV-YOLO/Python/ Multi-colour HSV detection
yolo_detection.py Ch. 2: OpenCV+YOLO VOLUME-2/02-OpenCV-YOLO/Python/ Object detection with YOLOv8
jetson_yolo_optimization.py Ch. 3: AI Drones VOLUME-2/03-AI-Drones/ TensorRT optimisation
latency_benchmark.py Ch. 3: AI Drones VOLUME-2/03-AI-Drones/ Latency measurement
power_monitoring.py Ch. 3: AI Drones VOLUME-2/03-AI-Drones/ Power consumption monitoring
drone_person_follower.py Ch. 3: AI Drones VOLUME-2/03-AI-Drones/ Person follower drone
mission_analyzer.py Ch. 3: AI Drones VOLUME-2/03-AI-Drones/ Post-mission analysis
README.md Appendix A1: Git VOLUME-2/Appendices/A1-Git/ Git for ROS2 projects
publisher_node.cpp Appendix A2: C++ VOLUME-2/Appendices/A2-Cpp/ ROS2 publisher node
subscriber_node.cpp Appendix A2: C++ VOLUME-2/Appendices/A2-Cpp/ ROS2 subscriber node
bridge_mavlink.cpp Appendix A2: C++ VOLUME-2/Appendices/A2-Cpp/ MAVLink-ROS2 bridge
CMakeLists.txt Appendix A2: C++ VOLUME-2/Appendices/A2-Cpp/ C++ ROS2 build template

See SCRIPTS_INDEX.md for the full catalogue with detailed descriptions.

System Requirements

Minimum Hardware

  • CPU: Intel i5 / Ryzen 5 (for simulation)
  • RAM: 8 GB
  • GPU: RTX 3060+ (recommended for YOLO)
  • Drone: Pixhawk 6C with Ardupilot 4.5+

Software

  • OS: Ubuntu 22.04 LTS (recommended)
  • Python: 3.10+
  • Git: to clone this repo
  • ROS2: Humble (installer included in VOLUME-2/01-ROS2/)

Contact & Support

Version: 1.1 | Last updated: May 2026

About

Companion code for the "Autonomous Drones" book series: ArduPilot, MAVLink, ROS2, computer vision and AI for autonomous UAVs. Python scripts, reference implementations and datasets.

dronebooks.eu/en/

Topics

ardupilotautonomous-vehiclescomputer-visiondronedrone-programmingdronesmavlinkopencvpixhawkpythonqgroundcontrolroboticsros2uasuav

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