Drone QR Detection

This project enables autonomous drone navigation and precision landing using GPS waypoints and QR code detection for enhanced accuracy. The drone takes off, navigates to a specified location, scans for a QR code, and lands precisely on it.

Features

✅ Autonomous takeoff and navigation to a GPS waypoint
✅ Real-time QR code detection for precision landing
✅ Uses DroneKit-Python for drone control
✅ Vision-based final landing using OpenCV
✅ Threaded QR scanning for real-time detection

Project Structure

 │── README.md
 │── pyproject.toml
 │── uv.lock
 │── .python-version
 │
 ├── src/
 │   ├── main.py              # Main entry point of the application
 │   ├── config.py            # Configuration settings
 │   ├── qr_detector.py       # QR code detection logic
 │   ├── drone_control.py     # Core drone control functions (e.g., takeoff, landing)
 │   ├── drone_utils.py       # Utility functions (e.g., distance calculation)

Installation

Prerequisites

• Python 3.12
• dronekit for drone communication
• opencv-python for QR detection

Setup

1. Clone the repository:

   git clone https://github.com/haroon0x/drone-qr-detection.git
   cd drone-qr-detection

2. Install dependencies using uv:

   pip install uv
   uv pip install

3. Connect to the drone:

   python src/main.py --connect 127.0.0.1:14550

For a real drone, replace 127.0.0.1:14550 with your actual telemetry connection string.

Usage

1. Start the script:

   python main.py --connect 127.0.0.1:14550

2. The drone will:
   • Take off
   • Navigate to the specified GPS location
   • Scan for a QR code
   • Land precisely on the QR code

Function Overview

arm_and_takeoff(vehicle, altitude)

• Arms the drone and ascends to the given altitude

go_to(vehicle, lat, lon)

• Moves the drone to the given GPS coordinates

search_for_qr_thread(stop_event, callback)

• Runs a separate thread for QR code detection
• Calls callback(data) when a QR is detected

on_qr_detected(data)

• Handles QR detection and initiates landing

Acknowledgments

• Built using DroneKit and OpenCV.
• Inspired by precision landing research in autonomous drones