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Ground Station Interface for Lightweight Multi-Drone Control and Telemetry on DJI Platforms

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**Ground Station Interface for Lightweight Multi-Drone Control and Telemetry on DJI Platforms**

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://raw.githubusercontent.com/WildDrone/WildBridge/main/LICENSE)
[![DJI MSDK V5](https://img.shields.io/badge/DJI%20MSDK-V5.17.0-blue.svg)](https://developer.dji.com/doc/mobile-sdk-tutorial/en/)
[![ROS 2 Humble](https://img.shields.io/badge/ROS%202-Humble-brightgreen.svg)](https://docs.ros.org/en/humble/)
[![Part of WildDrone](https://img.shields.io/badge/Part%20of-WildDrone-orange.svg)](https://wilddrone.eu)

*Part of the [WildDrone Project](https://wilddrone.eu) — European Union Horizon Europe Research Programme*

</div>

---

## Overview

WildBridge is an **open-source Android application** (Kotlin, DJI Mobile SDK V5) that runs directly on the DJI Remote Controller, or on a compatible Android phone connected through a DJI controller, and exposes drone telemetry, control, and video streaming over a local Wi-Fi network. It removes the need to interact with DJI's proprietary SDK from the ground station — any language or framework with HTTP and TCP socket support can integrate with WildBridge.

Each drone connects to its RC via DJI OcuSync (2.4/5 GHz). The RC connects to the ground station over a 2.4/5 GHz LAN. Multiple WildBridge instances can coexist on the same LAN, enabling multi-drone configurations without any app modification.

![WildBridge System Architecture](https://raw.githubusercontent.com/WildDrone/WildBridge/main/WildBridgeDiagram.png)
*Multi-drone setup: each RC runs WildBridge and exposes standard HTTP commands (port 8080), TCP telemetry (port 8081), discovery, and WebRTC video publishing through the current WHIP/WHEP MediaMTX workflow.*

---

## Key Features

- **Real-time Telemetry**: TCP socket streaming (port 8081) — continuous JSON at up to 20 Hz with 25+ flight state fields
- **HTTP Command Interface**: RESTful API (port 8080) for full drone control
- **Live Video Streaming**: WebRTC video publishing by WHIP to MediaMTX, with browser and dashboard playback through WHEP
- **GroundStation Video Dashboard**: Docker Compose stack with MediaMTX and a browser UI for multi-drone video monitoring, health diagnostics, telemetry, and charts
- **Three Navigation Modes**: Direct Virtual Stick (AVS), on-device PID position controller, DJI native KMZ waypoint missions
- **Manual Override**: Pilot takeover detection, with GS-readable override state and deactivation command
- **Camera Control**: Zoom ratio display and control, gimbal pitch/yaw, start/stop recording
- **Multi-drone Coordination**: Multiple concurrent drones over a single LAN
- **Auto-Discovery**: UDP broadcast discovery (port 30000), UDP multicast discovery, mDNS/Bonjour, subnet scanning
- **ROS 2 Integration**: Complete ROS 2 Humble package with 25+ topics and MAVROS-compatible bridge
- **Docker Deployment**: ROS 2 container plus a MediaMTX/video-test stack for video and connection testing

---

## Supported Hardware

**SDK Version**: DJI Mobile SDK V5 5.17.0

### DJI Drones
- DJI Mini 3 / Mini 3 Pro
- DJI Mini 4 Pro
- DJI Mavic 3 Enterprise Series (M3E)
- DJI Matrice 30 Series (M30/M30T)
- DJI Matrice 300 RTK
- DJI Matrice 350 RTK
- DJI Matrice 4 Thermal (M4T)
- Full list: [DJI Mobile SDK Tutorial](https://developer.dji.com/doc/mobile-sdk-tutorial/en/)

### Remote Controllers
- **DJI RC Pro** — Primary supported controller
- **DJI RC Plus** — Enterprise compatibility
- **DJI RC-N3** — Standard controller (tested with smartphones)

---

## User Interface

WildBridge runs on the RC's built-in Android display or on the Android display connected to the DJI controller. The main default layout starts the HTTP server, TCP telemetry stream, discovery services, flight logging, and video publishing components automatically — no separate video sample page is required.

![WildBridge default layout on Mini 4](https://github.com/WildDrone/WildBridge/blob/main/DefaultLayoutMini4.jpg)

The left-side WildBridge panel provides the controls most often used during research flights:

- **AI DETECT** toggles DJI AutoSensing detection and shows bounding boxes on the FPV view where supported by the aircraft and SDK.
- **AUTO / MANUAL** is the manual override switch. In **AUTO** mode, WildBridge accepts autonomous HTTP commands such as waypoints, trajectories, and virtual-stick navigation. Switching it to **MANUAL** activates the override latch, disables virtual stick, stops active control loops, and rejects new autonomous commands until the switch is cleared or `/send/deactivateManualOverride` is called.
- The manual override latch can also activate automatically while an autonomous control loop is running if RC stick input exceeds the configured deadzone. This lets the pilot take over immediately.
- **CTRL MINI4**, **CTRL M350**, or **CTRL MAVIC3** shows the detected control profile. WildBridge selects this profile from the DJI product type and uses it to choose conservative speed and PID parameters for the aircraft class.
- The lower status strip shows the configured drone name, WildBridge state, altitude, selected control profile, and current video sender diagnostics.

The WebRTC line at the bottom is a compact sender-health readout. It reports stream state, output resolution, requested resolution, source resolution, output FPS versus target FPS, dropped FPS, frame resize/processing time, scaling mode, processing errors, and recovery count. The same metrics are included in the telemetry stream under `webRtc`, so the GroundStation dashboard can show sender FPS and processing health without relying only on browser-side receive statistics.

The center and right portions remain DJI UXSDK surfaces: FPV feed, camera state, obstacle/vision indicators, map, camera controls, and aircraft status. WildBridge uses this layout so the pilot keeps the familiar DJI flight context while the ground station receives telemetry, commands, logs, discovery, and video publishing in the background.

The welcome screen displays build time, git commit, git state, version, feature summary, and configured drone name to help compare field devices quickly. `dirty` means the APK was built with local uncommitted changes in the worktree.

---

## Published Use Cases & Demo Videos

WildBridge has been used in the following research applications (Rolland et al., RiTA 2025):

| Study | UAVs | Features | Description | Video |
|-------|------|----------|-------------|-------|
| Drone Swarm for Wildlife Monitoring | 2× Mini 3, 1× M3E | T, V, WP | ROS 2 multi-drone monitoring of zebra herds; semi-autonomous waypoint missions; 15 m vertical separation | [▶ Watch](https://www.youtube.com/watch?v=PzHnbgxLaSU) |
| Drone Swarm for Wildfire Detection | 1× M3E, 1× M4T, 2× M300 | T, V, WP | Autonomous thermal + visual wildfire detection; coordinated take-off, search, detection, verification, payload drop; XPRIZE Wildfire semi-finalist | [▶ Watch](https://www.youtube.com/watch?v=F73VcUoOzo8) |
| Atmospheric Wind Field Profiling | 3× Mini 3 | T | Vertical wind profiles from attitude data validated against LiDAR (ENAC Lab) | [▶ Watch](https://www.youtube.com/watch?v=KZ40L-y1xt8) |
| Custom PID Position Controller | — | C | On-device PID controller demo | [▶ Watch](https://www.youtube.com/watch?v=j52ovMPVt_I) |

*T = Telemetry · V = Video · WP = Waypoint control · C = Low-level control*

---

## Quick Start

### Prerequisites

1. DJI drone + compatible RC, 5 GHz Wi-Fi access point, ground station computer
2. [Android Studio Koala 2024.1.2](https://redirector.gvt1.com/edgedl/android/studio/ide-zips/2024.1.2.13/android-studio-2024.1.2.13-linux.tar.gz)
3. DJI developer account + API key from [developer.dji.com](https://developer.dji.com/)

### Install the App

```bash
git clone https://github.com/WildDrone/WildBridge.git
```

1. Open `WildBridge/WildBridgeApp/android-sdk-v5-as` in Android Studio.
2. Add your API key to `local.properties`:
   ```properties
   AIRCRAFT_API_KEY="Your_App_Key"
   ```
3. Build and deploy to your RC or Android phone (enable Developer Mode + USB Debugging first).

Command-line build:

```bash
cd WildBridge/WildBridgeApp/android-sdk-v5-as
./gradlew :sample:assembleDebug
```

The debug APK is written to:

```text
WildBridgeApp/android-sdk-v5-sample/build/outputs/apk/debug/sample-debug.apk
```

### Start the Server

1. Launch the WildBridge app on the RC — servers start automatically on the default layout.
2. Note the Device IP shown in the app, call `/config`, or use auto-discovery.
3. Press **Enable Virtual Stick** (via `/send/enableVirtualStick` or the app UI) before sending navigation commands.

### Ground Station Dependencies

```bash
pip install -r GroundStation/Python/requirements.txt   # Python interface
pip install -r GroundStation/ROS/requirements.txt      # ROS 2 interface
```

### Connect and Control

**Telemetry (TCP, port 8081):**
```python
import socket, json

sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect(("192.168.1.100", 8081))
buffer = ""
while True:
    buffer += sock.recv(4096).decode('utf-8')
    while '\n' in buffer:
        line, buffer = buffer.split('\n', 1)
        if line.strip():
            t = json.loads(line)
            print(f"Battery: {t['batteryLevel']}%  Alt: {t['location']['altitude']:.1f}m  Sats: {t['satelliteCount']}")
```

**Commands (HTTP POST, port 8080):**
```python
import requests

rc = "192.168.1.100"
requests.post(f"http://{rc}:8080/send/takeoff")
requests.post(f"http://{rc}:8080/send/gotoWPwithPID", data="49.306254,4.593728,20,90,5.0")
requests.post(f"http://{rc}:8080/send/navigateTrajectoryDJINative",
              data="10.0;49.306,4.593,20;49.307,4.594,25;49.308,4.595,20")
requests.post(f"http://{rc}:8080/send/RTH")
```

**Video (WHIP/WHEP through MediaMTX):**
```bash
docker compose -f compose.video-test.yaml up -d --build
```

Open the dashboard at <http://localhost:8090>. When the dashboard connects to a phone telemetry stream, the app builds a WHIP publish URL such as:

```text
http://<ground-station-ip>:8889/<drone_name>/whip
```

MediaMTX exposes the matching browser playback endpoint:

```text
http://<ground-station-ip>:8889/<drone_name>/whep
```

The supported public video example is defined by [compose.video-test.yaml](compose.video-test.yaml), [GroundStation/video_test/mediamtx.yml](GroundStation/video_test/mediamtx.yml), and the webapp in [GroundStation/video_test/webapp](GroundStation/video_test/webapp). The older direct WebSocket-signaling viewer/server path has been removed from the public app and ground-station tooling.

---

## GroundStation Video Dashboard

The video-test stack runs MediaMTX plus a browser dashboard for multi-drone video testing and stream diagnostics. It discovers phones, connects to telemetry on port 8081, displays stream health, and consumes video through WHEP.

Default services:

| Service | Default URL / Port |
|---------|--------------------|
| Browser dashboard | http://localhost:8090 |
| MediaMTX WebRTC / WHIP / WHEP | http://localhost:8889 |
| MediaMTX API | http://localhost:9997 |
| MediaMTX RTSP | rtsp://localhost:8554 |
| ICE UDP | :8189 |

Useful restart command:

```bash
docker compose -f compose.video-test.yaml down
docker compose -f compose.video-test.yaml up -d
docker compose -f compose.video-test.yaml ps
```

Runtime diagnostics are written under `GroundStation/video_test/logs/`. Those logs are intentionally ignored by git.

![Video test dashboard](https://raw.githubusercontent.com/WildDrone/WildBridge/main/WildBridgeReadmePics/VideoTestTab.png)

![Health tab](https://raw.githubusercontent.com/WildDrone/WildBridge/main/WildBridgeReadmePics/HealthTab.png)

![Telemetry tab](https://raw.githubusercontent.com/WildDrone/WildBridge/main/WildBridgeReadmePics/TelemetryTab.png)

![Telemetry charts tab](https://raw.githubusercontent.com/WildDrone/WildBridge/main/WildBridgeReadmePics/TelemetryChartsTab.png)

![Video charts tab](https://raw.githubusercontent.com/WildDrone/WildBridge/main/WildBridgeReadmePics/VideoChartsTab.png)

---

## Python Interface (`DJIInterface`)

`GroundStation/Python/djiInterface.py` provides a high-level class wrapping all HTTP commands and the TCP telemetry socket in a thread-safe background receiver.

```python
from djiInterface import DJIInterface

# Auto-discovery via UDP broadcast (port 30000) if no IP provided
dji = DJIInterface("192.168.1.100")

# Start background telemetry thread (TCP socket, port 8081)
dji.startTelemetryStream()

# Read latest telemetry (thread-safe, returns copy of last JSON snapshot)
print(dji.getBatteryLevel())          # int: 0–100
print(dji.getLocation())              # {'latitude': ..., 'longitude': ..., 'altitude': ...}
print(dji.getHeading())               # float: compass degrees
print(dji.getAttitude())              # {'pitch': ..., 'roll': ..., 'yaw': ...}
print(dji.getGimbalAttitude())        # {'pitch': ..., 'roll': ..., 'yaw': ...}
print(dji.getSatelliteCount())        # int
print(dji.getFlightMode())            # str: 'GPS', 'ATTI', 'VIRTUAL_STICK', 'GO_HOME', ...
print(dji.isManualOverrideActive())   # bool
print(dji.getRemainingFlightTime())   # int: seconds
print(dji.getDistanceToHome())        # float: metres
print(dji.getZoomRatio())             # float

# Commands
dji.requestSendTakeOff()
dji.requestSendLand()
dji.requestSendRTH()                  # Aborts mission first, then RTH
dji.requestSendEnableVirtualStick()
dji.requestAbortMission()             # Abort + disable Virtual Stick
dji.requestAbortDJINativeMission()    # Abort DJI native mission only

# Navigation
dji.requestSendGoToWPwithPID(49.306254, 4.593728, 20.0, yaw=90, speed=5.0)
dji.requestSendNavigateTrajectory(
    [(49.306, 4.593, 20), (49.307, 4.594, 25)], finalYaw=90)
dji.requestSendNavigateTrajectoryDJINative(
    [(49.306, 4.593, 20), (49.307, 4.594, 25), (49.308, 4.595, 20)], speed=10.0)
dji.requestSendGotoYaw(45.0)
dji.requestSendGotoAltitude(30.0)

# Camera / gimbal
dji.requestSendGimbalPitch(-30.0)
dji.requestSendGimbalYaw(45.0)
dji.requestSendZoomRatio(4.0)
dji.requestCameraStartRecording()
dji.requestCameraStopRecording()

# Manual override
dji.requestDeactivateManualOverride()

# RTH altitude
dji.requestSetRTHAltitude(50.0)

# PID tuning
dji.requestSendGoToWPwithPIDtuning(
    lat, lon, alt, yaw,
    kp_pos=1.0, ki_pos=0.0, kd_pos=0.2,
    kp_yaw=1.0, ki_yaw=0.0, kd_yaw=0.1)

# Virtual stick (raw AVS, values saturated to ±0.3 by DJIInterface)
dji.requestSendStick(leftX=0, leftY=0.2, rightX=0.1, rightY=0)

dji.stopTelemetryStream()
```

---

## API Reference

### Telemetry (TCP Socket — Port 8081)

Continuous newline-delimited JSON stream. Connect and read; the app pushes updates automatically.

**Telemetry fields:**

| Field | Type | Description |
|-------|------|-------------|
| `droneName` | `string` | Drone name (set via app UI) |
| `speed` | `{x, y, z}` | Velocity (m/s) |
| `heading` | `float` | Compass heading (degrees) |
| `attitude` | `{pitch, roll, yaw}` | Aircraft attitude (degrees) |
| `location` | `{latitude, longitude, altitude}` | GPS position |
| `phoneLocation` | `{latitude, longitude, heading, pressure, battery, wifiRssi}` | Operator phone/RC location and sensor data |
| `gimbalAttitude` | `{pitch, roll, yaw}` | Gimbal orientation (degrees) |
| `gimbalJointAttitude` | `{pitch, roll, yaw}` | Gimbal joint angles (degrees) |
| `zoomRatio` | `float` | Camera zoom ratio |
| `zoomFl` / `hybridFl` / `opticalFl` | `float` | Focal lengths (-1 if unavailable) |
| `batteryLevel` | `int` | Battery % (0–100) |
| `satelliteCount` | `int` | GPS satellite count |
| `homeLocation` | `{latitude, longitude}` | Home point coordinates |
| `homeSet` | `bool` | Home point set |
| `distanceToHome` | `float` | Distance to home (m) |
| `waypointReached` | `bool` | Final waypoint reached |
| `intermediaryWaypointReached` | `bool` | Intermediate waypoint reached |
| `yawReached` | `bool` | Target yaw reached |
| `altitudeReached` | `bool` | Target altitude reached |
| `isRecording` | `bool` | Camera recording active |
| `flightMode` | `string` | GPS / ATTI / VIRTUAL_STICK / GO_HOME / AUTO_LANDING / WAYPOINT / MANUAL |
| `remainingFlightTime` | `int` | Remaining flight time (s) |
| `timeNeededToGoHome` | `float` | Time to return home (s) |
| `timeNeededToLand` | `float` | Time to land (s) |
| `totalTime` | `float` | Go-home + land time (s) |
| `maxRadiusCanFlyAndGoHome` | `float` | Max safe flyable radius (m) |
| `batteryNeededToGoHome` | `float` | Battery % needed for RTH |
| `batteryNeededToLand` | `float` | Battery % needed to land |
| `remainingCharge` | `int` | Raw remaining battery charge from SDK |
| `seriousLowBatteryThreshold` | `float` | Critical low battery % |
| `lowBatteryThreshold` | `float` | Low battery warning % |
| `isManualOverrideActive` | `bool` | Pilot has taken manual RC control |
| `webRtc` | `object` | WHIP/WebRTC sender state, FPS, processing, drop, error, and recovery metrics when video is active |

---

### Control Endpoints (HTTP POST — Port 8080)

| Endpoint | Body | Description |
|----------|------|-------------|
| `/send/takeoff` | — | Takeoff |
| `/send/land` | — | Land |
| `/send/RTH` | — | Return to home (aborts active mission + disables VS first) |
| `/send/enableVirtualStick` | — | Enable Virtual Stick mode |
| `/send/abortMission` | — | Stop mission + disable Virtual Stick |
| `/send/abortAll` | — | Stop all active missions (DJI native + Virtual Stick) |
| `/send/abort/DJIMission` | — | Stop DJI native mission only |
| `/send/stick` | `leftX,leftY,rightX,rightY` | Direct AVS velocity input (values ∈ [-1, 1]) |
| `/send/gotoWP` | `lat,lon,alt` | Navigate to waypoint (basic) |
| `/send/gotoWPwithPID` | `lat,lon,alt,yaw[,speed]` | PID position controller (default speed: 5.0 m/s) |
| `/send/gotoWPwithPIDtuning` | `lat,lon,alt,yaw,kp_pos,ki_pos,kd_pos,kp_yaw,ki_yaw,kd_yaw` | PID with custom gains |
| `/send/navigateTrajectory` | `lat,lon,alt;…;lat,lon,alt,yaw` | Trajectory via Virtual Stick PID; last WP includes yaw |
| `/send/navigateTrajectoryDJINative` | `speed;lat,lon,alt;…` | DJI native KMZ mission (≥ 2 waypoints) |
| `/send/gotoYaw` | `yaw_degrees` | Rotate to heading |
| `/send/gotoAltitude` | `altitude_m` | Change altitude |
| `/send/gimbal/pitch` | `roll,pitch,yaw` | Set gimbal pitch |
| `/send/gimbal/yaw` | `roll,pitch,yaw` | Set gimbal yaw joint angle |
| `/send/camera/zoom` | `zoom_ratio` | Set camera zoom |
| `/send/camera/startRecording` | — | Start recording |
| `/send/camera/stopRecording` | — | Stop recording |
| `/send/setRTHAltitude` | `altitude_m` | Set RTH altitude |
| `/send/deactivateManualOverride` | — | Re-enable autonomous commands after pilot override |
| `/send/autoSensing/start` | — | Enable DJI AutoSensing object detection where supported |
| `/send/autoSensing/stop` | — | Disable DJI AutoSensing object detection |

### Status Endpoints (HTTP GET — Port 8080)

| Endpoint | Returns | Description |
|----------|---------|-------------|
| `/config` | JSON | Drone name, IP, HTTP/telemetry ports, and current video mode |
| `/get/isManualOverrideActive` | JSON/text | Manual override state |
| `/get/autoSensing/status` | JSON | AI detection status and target count |
| `/get/autoSensing/targets` | JSON | Current detected targets with bounding boxes |

> All other flight state data is available via the TCP telemetry stream on port 8081. Use `GET /config` for connection metadata and auto-discovery.

---

### Video Streaming

WildBridge's supported public video path is WebRTC publishing through WHIP to MediaMTX, with browser playback through WHEP. The app publishes DJI camera frames to a WHIP URL selected by the ground station, normally:

```text
http://<ground-station-ip>:8889/<drone_name>/whip
```

The GroundStation video dashboard then watches the matching WHEP URL:

```text
http://<ground-station-ip>:8889/<drone_name>/whep
```

This replaces the older direct RC-hosted WebSocket-signaling viewer. That sample viewer/server path is no longer part of the public app or ground-station tooling.

---

## Drone Identity & Auto-Discovery

- **Custom naming**: Set drone name via the app UI (tap the name display). Examples: `"RedScout"`, `"Bravo"`.
- **UDP broadcast discovery**: `DJIInterface("")` broadcasts `DISCOVER_WILDBRIDGE` on port 30000; the app replies `WILDBRIDGE_HERE:{ip}`.
- **UDP multicast discovery**: The app announces over `239.255.42.99:30001` for LANs where multicast is available.
- **mDNS/Bonjour**: WildBridge advertises `_wildbridge._tcp.` with service metadata.
- **Config endpoint**: `/config` returns drone name and connection metadata (used by ROS auto-discovery and the dashboard).
- **Dynamic ROS namespaces**: Nodes launch under the drone's name (e.g., `/RedScout/location`), eliminating manual IP-to-name mapping.

---

## ROS 2 Integration

Full ROS 2 Humble package. The `dji_controller` node publishes all telemetry fields as individual topics at **20 Hz** and subscribes to command topics.

### Package Structure

```text
GroundStation/ROS/
├── dji_controller/          # Main control + telemetry node
│   ├── controller.py        # DjiNode: 25+ topics, 20 Hz timer
│   └── submodules/dji_interface.py
├── wildbridge_mavros/       # MAVROS-compatible bridge
│   ├── mavros_bridge.py     # WildBridgeMavrosNode
│   ├── auto_mavros_bridge.py# Auto-discovery + dynamic namespace launch
│   └── dji_interface.py
└── wildview_bringup/
    ├── auto_discovery.launch.py
    ├── auto_discovery_native.launch.py
    └── config/parameters.yaml
```

### Published Topics (per drone namespace `/drone_N/`)

| Topic | Type | Description |
|-------|------|-------------|
| `speed` | `Float64` | Velocity magnitude (m/s) |
| `speed_vector` | `Vector3` | Velocity vector x, y, z (m/s) |
| `heading` | `Float64` | Compass heading (degrees) |
| `attitude` | `String` | `{pitch, roll, yaw}` JSON |
| `location` | `NavSatFix` | GPS latitude, longitude, altitude |
| `gimbal_attitude` | `String` | `{pitch, roll, yaw}` JSON |
| `gimbal_joint_attitude` | `String` | Joint angles JSON |
| `gimbal_yaw` / `gimbal_pitch` | `Float64` | Individual gimbal angles |
| `zoom_fl` / `hybrid_fl` / `optical_fl` | `Float64` | Focal lengths (-1 if N/A) |
| `zoom_ratio` | `Float64` | Camera zoom ratio |
| `battery_level` | `Float64` | Battery % |
| `satellite_count` | `Int32` | GPS satellite count |
| `waypoint_reached` | `Bool` | Final WP flag |
| `intermediary_waypoint_reached` | `Bool` | Intermediate WP flag |
| `altitude_reached` / `yaw_reached` | `Bool` | Reach flags |
| `home_location` | `NavSatFix` | Home GPS coordinates |
| `home_set` | `Bool` | Home point set flag |
| `distance_to_home` | `Float64` | Distance to home (m) |
| `remaining_flight_time` | `Float64` | Remaining flight time (s) |
| `time_needed_to_go_home` | `Float64` | Time to RTH (s) |
| `time_needed_to_land` | `Float64` | Time to land (s) |
| `time_to_landing_spot` | `Float64` | Go-home + land (s) |
| `max_radius_can_fly_and_go_home` | `Float64` | Max safe radius (m) |
| `battery_needed_to_go_home` | `Float64` | Battery % for RTH |
| `battery_needed_to_land` | `Float64` | Battery % to land |
| `camera/is_recording` | `Bool` | Recording status |
| `flight_mode` | `String` | Current DJI flight mode string |
| `manual_override_active` | `Bool` | Pilot override active |

### Subscribed Topics (commands)

| Topic | Type | Body |
|-------|------|------|
| `command/takeoff` | `Empty` | — |
| `command/land` | `Empty` | — |
| `command/rth` | `Empty` | — |
| `command/abort_mission` | `Empty` | — |
| `command/abort_all` | `Empty` | — |
| `command/enable_virtual_stick` | `Empty` | — |
| `command/abort_dji_native_mission` | `Empty` | — |
| `command/deactivate_manual_override` | `Empty` | — |
| `command/camera/start_recording` | `Empty` | — |
| `command/camera/stop_recording` | `Empty` | — |
| `command/goto_waypoint` | `Float64MultiArray` | `[lat, lon, alt, yaw, speed?]` |
| `command/goto_waypoint_pid_tuning` | `Float64MultiArray` | `[lat,lon,alt,yaw,kp_pos,ki_pos,kd_pos,kp_yaw,ki_yaw,kd_yaw]` |
| `command/goto_trajectory` | `String` | `"[(lat,lon,alt),...], finalYaw"` |
| `command/goto_trajectory_dji_native` | `String` | `"(speed, [(lat,lon,alt),...])"` |
| `command/goto_yaw` | `Float64` | Yaw angle (degrees) |
| `command/goto_altitude` | `Float64` | Altitude (m) |
| `command/gimbal_pitch` | `Float64` | Pitch (degrees) |
| `command/gimbal_yaw` | `Float64` | Yaw joint angle |
| `command/zoom_ratio` | `Float64` | Zoom ratio |
| `command/set_rth_altitude` | `Float64` | RTH altitude (m) |
| `command/stick` | `Float64MultiArray` | `[leftX, leftY, rightX, rightY]` ∈ [-1,1] |

### MAVROS-Compatible Bridge (`wildbridge_mavros`)

For applications built for PX4/ArduPilot. `WildBridgeMavrosNode` publishes standard MAVROS topics:

| Topic | Type |
|-------|------|
| `mavros/global_position/global` | `NavSatFix` |
| `mavros/local_position/pose` | `PoseStamped` (metres from home) |
| `mavros/local_position/velocity_local` | `TwistStamped` |
| `mavros/imu/data` | `Imu` |
| `mavros/battery` | `BatteryState` |
| `mavros/global_position/compass_hdg` | `Float64` |
| `mavros/global_position/rel_alt` | `Float64` |
| `mavros/global_position/satellites` | `UInt32` |
| `mavros/state/connected` / `armed` / `mode` | `Bool` / `Bool` / `String` |
| `wildbridge/waypoint_reached` | `Bool` |
| `wildbridge/distance_to_home` | `Float64` |
| `wildbridge/flight_time_remaining` | `Float64` |

**Setpoint subscribers**: `mavros/setpoint_position/local` (PoseStamped → GPS WP), `mavros/setpoint_position/global` (NavSatFix → direct), `mavros/setpoint_velocity/cmd_vel` (TwistStamped → AVS, max 10 m/s), `mavros/setpoint_attitude/attitude` (PoseStamped → gimbal pitch).

**Services**: `mavros/cmd/arming`, `mavros/cmd/takeoff`, `mavros/cmd/land`, `mavros/cmd/rtl`, `mavros/set_mode/offboard`, `wildbridge/enable_virtual_stick`, `wildbridge/abort_mission`.

### Usage

**Docker (single-drone, auto-discovery):**
```bash
cd GroundStation
docker build -t wildbridge-ros .
docker run --rm --network=host wildbridge-ros
```

The image is based on `ros:humble` with CycloneDDS, `cv-bridge`, `vision-opencv`, `image-transport`, plus all Python dependencies.

**Manual multi-drone launch:**
```bash
cd GroundStation/ROS
colcon build --symlink-install && source install/setup.bash
ros2 launch wildview_bringup auto_discovery.launch.py

# Example commands
ros2 topic pub /drone_1/command/takeoff std_msgs/msg/Empty "{}"
ros2 topic pub /drone_1/command/goto_waypoint std_msgs/msg/Float64MultiArray \
  "data: [49.306254, 4.593728, 20.0, 90.0, 5.0]"
```

**MAVROS auto-discovery:**
```bash
ros2 run wildbridge_mavros auto_mavros_bridge
# Discovers all drones, queries /config for drone name, launches with /{name} namespace
```

---

## Project Structure

```text
WildBridge/
├── compose.video-test.yaml              # MediaMTX + browser video diagnostics stack
├── WildBridgeApp/
│   ├── android-sdk-v5-as/               # Main Android project (open this in Android Studio)
│   │   └── local.properties             # Place AIRCRAFT_API_KEY here
│   ├── android-sdk-v5-sample/           # Full sample app with WildBridge additions
│   │   └── src/main/
│   │       └── java/dji/sampleV5/aircraft/
│   │           ├── WildBridgeDefaultLayoutActivity.kt
│   │           ├── controller/          # DroneController, PID, autonomy helpers
│   │           ├── logger/              # Flight and DJI record logging
│   │           ├── server/              # HTTP, telemetry, and discovery services
│   │           └── webrtc/              # WHIP/WebRTC video publishing
│   └── android-sdk-v5-uxsdk/            # DJI UXSDK UI components
└── GroundStation/
    ├── Python/
    │   ├── djiInterface.py              # DJIInterface class (HTTP + TCP telemetry)
    │   └── mavlink_proxy.py             # QGroundControl bridge
    ├── Dockerfile                       # ros:humble + CycloneDDS container
    ├── entrypoint.sh                    # Container entry point
    ├── run_docker.sh                    # Docker run helper
    ├── video_test/                      # MediaMTX + multi-drone video dashboard
    └── ROS/
        ├── dji_controller/              # ROS 2 control + telemetry node
        ├── wildbridge_mavros/           # MAVROS-compatible bridge + auto-discovery
        └── wildview_bringup/            # Launch files and config
```

---

## Flight Logging

WildBridge logs flight data in JSONL format.

Storage locations are checked in order:

1. Removable microSD card: `WildBridge/FlightLogs/YYYY-MM-DD/HH-mm-ss_<drone>.jsonl`
2. Documents folder: `Documents/WildBridge/FlightLogs/YYYY-MM-DD/`
3. App-external fallback: `Android/data/<pkg>/files/FlightLogs/YYYY-MM-DD/`

DJI SDK TXT flight records are copied to `WildBridge/DJI_FlightRecords/` on app launch and after landing so they survive app reinstalls.

---

## Troubleshooting

**Connection refused:**
- Verify the WildBridge app is running on the RC (servers start on launch).
- Check the RC is on the same LAN as the GS.
- Test with `curl http://{RC_IP}:8080/config` and `nc {RC_IP} 8081`.

**Drone does not respond to navigation commands:**
- Press **Enable Virtual Stick** in the app or call `/send/enableVirtualStick`.
- Check `isManualOverrideActive` in telemetry; call `/send/deactivateManualOverride` if needed.

**Video not connecting:**
- Start the video-test stack with `docker compose -f compose.video-test.yaml up -d --build`.
- Open <http://localhost:8090> and verify the phone telemetry connection is active.
- Check MediaMTX paths with `curl http://localhost:9997/v3/paths/list`.
- Prefer clean 5 GHz Wi-Fi channels for multiple simultaneous video publishers.

**Android build:**
```bash
cd WildBridgeApp/android-sdk-v5-as
./gradlew :sample:compileDebugKotlin
./gradlew :sample:assembleDebug
```

---

</div>

This work is part of the **WildDrone** project, funded by the European Union's Horizon Europe Research Programme under the Marie Skłodowska-Curie Grant Agreement No. 101071224, with additional funding from the EPSRC grant *Autonomous Drones for Nature Conservation Missions* (EP/X029077/1) and the Independent Research Fund Denmark (10.46540/4264-00105B).

```bibtex
@inproceedings{Rolland2025WildBridge,
  author    = {Edouard G.A. Rolland and Kilian Meier and Murat Bronz and
               Aditya M. Shrikhande and Tom Richardson and
               Ulrik P.S. Lundquist and Anders L. Christensen},
  title     = {{WildBridge}: Ground Station Interface for Lightweight
               Multi-Drone Control and Telemetry on {DJI} Platforms},
  booktitle = {Proceedings of the 13th International Conference on
               Robot Intelligence Technology and Applications (RiTA 2025)},
  year      = {2025},
  month     = {December},
  publisher = {Springer},
  address   = {London, United Kingdom},
  note      = {In press},
  url       = {https://portal.findresearcher.sdu.dk/en/publications/wildbridge-ground-station-interface-for-lightweight-multi-drone-c},
}
```

## Contributors

Additional WildBridge development and field testing contributors:

- Alejandro Jarabo-Peñas
- Juan Bravo-Arrabal

---

## License

MIT License — see [LICENSE](LICENSE) for details.

## Contributing

Bug reports and feature requests: [GitHub Issues](https://github.com/WildDrone/WildBridge/issues).
For collaboration enquiries, contact the WildDrone consortium at [wilddrone.eu](https://wilddrone.eu).

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