anka-uav-tekno2022 | IEEE BTU ANKA UAV Team

Autonomous mission control with in-flight corrections

Python-based flight stack built for the Teknofest International UAV Competition. The controller reads waypoint plans, activates onboard perception over the target area, estimates offset from a detected marker, and shifts the mission so payload release lands on target.

Teknofest 2022 International UAV Competition

DroneKit + OpenCV Python 3.8+ flight stack

Fixed-wing Mission Planner & ArduPilot tooling

Open GitHub repo Read competition report

Live waypoint updates - Color-based detection - Mission Planner compatible

Mission diagram from the ANKA flight plan

Mission plan snapshot

Flight stack at a glance

Controller

`intuitive_shot_flight_algorithm/flight_controller.py` runs the live mission loop, syncs waypoints from Mission Planner, and edits them in-air after perception reports an offset.

Perception

`perception.py` performs color-based detection around the target area, captures the best frame, and logs bounding boxes so the waypoint correction aligns with the actual marker.

Logging

`flight_logger.py` and `runtime_log.txt` keep a detailed trace of flight events and detection results for post-flight review.

Algorithms lab

`algorithms/` houses standalone experiments (Canny, pixel deviation, demos) so detection ideas can be validated without touching flight-critical code.

Ground station

Mission Planner (ArduPilot) handles route upload, telemetry, and verifying in-flight waypoint edits. Mission Planner docs.

Quickstart

Works with Python 3.8+. Use a simulator or a ground station connection string compatible with your setup.

python -m venv .venv
.\.venv\Scripts\Activate.ps1
pip install dronekit opencv-python numpy
cd intuitive_shot_flight_algorithm
python flight_controller.py --connect tcp:127.0.0.1:5762

Adjust `start_wp`, `stop_wp`, and `throw` params in `flight_controller.py` to match your Mission Planner file before flight.

Ground control: use Mission Planner (ArduPilot) or a compatible GCS for uploading plans and monitoring telemetry.

Repository map

Core mission code

`intuitive_shot_flight_algorithm/flight_controller.py`
`intuitive_shot_flight_algorithm/perception.py`
`intuitive_shot_flight_algorithm/mission_waypoints.txt`

Detection experiments

`algorithms/anka_detect/team_detection_demo.py`
`algorithms/detect_cpu/canny_edge.py`
`algorithms/pixel_deviation/pixel_deviation.py`

Assets

`assets/logo_team_anka.png`
`assets/mission_planner_screenshot.png`
`assets/team_photo.jpg`

Docs & tools

Report and assets

Use these references for presentations, research notes, or onboarding new contributors.

Competition report (PDF)

`BTU_ANKA_Report_2022.pdf` summarizes the aircraft, mission profile, and test results.

Open report

Mission visuals

Mission planner snapshots and diagrams help align planning with autonomous corrections in the air.

Files: `mission_planner_screenshot.png`, `mission_view_01.png`, `mission_view_02.png`, `mission_view_03.png`.

Gallery

Flight test photo — Flight test still from the fixed-wing platform.

IEEE BTU ANKA team photo — IEEE BTU ANKA team behind the anka-uav-tekno2022 stack.

Stay in touch

Follow the team or open an issue to collaborate.

Instagram @ieeebtuanka

anka-uav-tekno2022 - BTU ANKA UAV