An Approach to Semi-Autonomous Indoor Drone System: Software Architecture and Integration Testing

To address these problems, we establish a semi-autonomous functionality by removing the RC transmitter, and remotely connecting the Drone System to track status and executing user-based input commands. In order to resolve the limitation in hardware connections on the Flight Controller, we integrated the sonar sensor into a companion computer, from where the data is continuously fed to an embedded system through MAVLink (Micro Aerial Vehicle Link) network communication protocol. In this study, we also implemented a modular architecture which enables scalable integration of sensor modules into the Drone System to streamline the process of development, deployment, testing and debugging