D.R.O.L.

# Auf Raspberry Pi Zero 2W ausführen
# pip3 install dronekit pymavlink picamera2

from dronekit import connect, VehicleMode, LocationGlobalRelative
from picamera2 import Picamera2
import time, datetime

# Verbindung zu ArduCopter via UART (MAVLink)
vehicle = connect('/dev/ttyAMA0', baud=57600, wait_ready=True)
cam = Picamera2()
cam.start()
print(f"D.R.O.L. — GPS: {vehicle.gps_0} | Bat: {vehicle.battery.voltage:.1f}V")

def takeoff(alt):
    vehicle.mode = VehicleMode("GUIDED")
    vehicle.armed = True
    while not vehicle.armed: time.sleep(1)
    vehicle.simple_takeoff(alt)
    while vehicle.location.global_relative_frame.alt < alt * 0.95:
        time.sleep(1)

def goto_and_photo(lat, lon, alt, label):
    print(f"→ Waypoint: {label}")
    vehicle.simple_goto(LocationGlobalRelative(lat, lon, alt), groundspeed=4)
    time.sleep(20)  # warten bis Waypoint erreicht
    cam.capture_file(f"/home/pi/mission/{label}_{datetime.datetime.now():%H%M%S}.jpg")
    print(f"📷 Foto gespeichert: {label}")

# Mission starten
takeoff(15)  # 15m Startshöhe

# Überwachungspunkte — GPS-Koordinaten anpassen!
goto_and_photo(50.3570, 7.5885, 15, "point_alpha")
goto_and_photo(50.3580, 7.5900, 20, "point_bravo")
goto_and_photo(50.3560, 7.5910, 15, "point_charlie")

# Automatisch zurück zum Start
vehicle.mode = VehicleMode("RTL")
print("✅ Mission complete — RTL activated")
cam.stop()
vehicle.close()

# Installation (einmalig)
sudo apt install -y libcamera-apps ffmpeg

# 1080p UDP-Stream mit niedrigster Latenz starten
libcamera-vid -t 0 --inline --width 1280 --height 720 \
  --framerate 30 --bitrate 2000000 --codec h264 \
  -o "udp://192.168.2.255:5000" &

# Auf Smartphone (VLC App):
# Medien → Netzwerk-Stream → udp://@:5000

# Oder via QGroundControl integrierter Videostream:
# Settings → General → Video → UDP h.264 Port 5000

# RTSP-Stream für mehrere Clients gleichzeitig:
# sudo pip3 install mediamtx   (vormals rtsp-simple-server)
# mediamtx &  → rtsp://192.168.2.1:8554/cam