Edge Ai

MAVSDK-only drone backend for the SAR stack. All flight I/O goes through MAVSDK (Action, MissionRaw, Telemetry). No raw MAVLink.

Used internally by gateway → frontend LLM via a drone-http compatible HTTP API on port 3001.

SAR stack (recommended)

cd /home/jetson/Code
./sar-stack.sh start proxy    # or: auto | serial

The drone tmux window runs scripts/stack_server.py:

Port	Purpose
3001	Gateway LLM tools + frontend telemetry (DRONE_SERVER_URL)

Flow:

Frontend chat → gateway :3000/infer → LLM → POST :3001/v1/apply-tool → MAVSDK → FC

Prerequisites

cd MCP
pip install -r requirements.txt

Environment

Variable	Default	Purpose
MAVSDK_CONNECT	udpin://0.0.0.0:14550	MAVSDK connection
MCP_HTTP_PORT	3001	HTTP API for gateway
MCP_MIN_ALT_M	2	Min altitude (m)
MCP_MAX_ALT_M	120	Max altitude (m)
MCP_MAX_DISTANCE_M	2000	Max horizontal distance from home (m)
MCP_MAX_SPEED_M_S	15	Max speed for offboard velocity
MCP_MAX_WAYPOINTS	120	Max waypoints per mission upload

Test from frontend chat

With sar-stack running, try in the dashboard:

• "Just hover in place for now"
• "Return to home immediately" (SITL / when safe)

Test scripts

python3 scripts/test_unit.py
python3 scripts/test_sitl.py --skip-flight

Mission upload (dashboard Mission Planner)

{
  "include_takeoff": true,
  "takeoff_alt_m": 15,
  "include_rtl": true,
  "waypoints": [
    {"lat_deg": 23.558, "lon_deg": 120.473, "alt_m": 15}
  ]
}

Posted to POST /v1/mission/upload (proxied by gateway as /drone/mission/upload).

Standalone stdio MCP (optional, local dev only)

Not started by sar-stack. For Cursor/debug on the Jetson:

python3 server.py

Deploy

git remote -v   # [email protected]:basilrari/edge-ai-MCP.git
git push -u origin main