🩺 Medical Drone (MeddyBuddy)

MeddyBuddy is an autonomous medical diagnostics and rescue drone system designed for rapid emergency response in disaster-affected or remote regions.
It combines ArduPilot SITL, Gazebo, QGroundControl (QGC), and Python automation scripts for autonomous takeoff, waypoint navigation, and mission control.
The drone is equipped with 3D-printed attachments for medical payload delivery.

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🧠 System Architecture

               ┌──────────────────────────────┐
               │         Gazebo (GZ)          │
               │  • 3D Physics Simulation     │
               │  • Drone & Environment Model │
               └──────────────┬───────────────┘
                              │
                              │ MAVLink (UDP)
                              ▼
               ┌──────────────────────────────┐
               │     ArduPilot SITL (Copter)  │
               │  • Flight Controller Logic   │
               │  • Sensor & Control Emulation│
               └──────────────┬───────────────┘
                              │
               ┌──────────────┴───────────────┐
               │   Python Control Script      │
               │   (takeoff_waypoints.py)     │
               │  • Connects via MAVLink      │
               │  • Sends Arm/Takeoff Cmds    │
               │  • Controls Waypoints        │
               └──────────────┬───────────────┘
                              │
                              │ MAVLink (UDP/TCP)
                              ▼
               ┌──────────────────────────────┐
               │     QGroundControl (QGC)     │
               │  • Mission Visualization     │
               │  • Live Telemetry View       │
               │  • Manual Override Interface │
               └──────────────────────────────┘

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🖼️ Project Photos

Prototype Build	Simulation in Gazebo

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🎥 Demo Video

🔗 Watch the demo video here

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⚙️ Installation Guide

🧩 Prerequisites

Install the following dependencies before running the project:

1️⃣ ArduPilot SITL

git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile

To start ArduCopter SITL:

sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map

2️⃣ Gazebo (GZ)

Install Gazebo (GZ) and required ArduPilot plugins:

sudo apt install gazebo gz-tools gz-garden

3️⃣ QGroundControl (QGC)

Download and install QGroundControl: 👉 https://qgroundcontrol.com/downloads/

Once installed, open QGC and connect to SITL (UDP: 14550).

4️⃣ Python Environment

Create and activate a Python environment:

python3 -m venv env
source env/bin/activate        # On Windows: env\Scripts\activate

Install dependencies:

pip install pymavlink dronekit opencv-python numpy

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🧱 Project Structure

Medical_Drone/
├─ script/takeoff_waypoints.py        
├─ stl/                        
├─ media/                      
└─ README.md

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🚀 Running the Simulation

Step 1 — Start ArduCopter SITL in Gazebo

sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map

Step 2 — Launch QGroundControl

Open QGroundControl and ensure it connects automatically (UDP 14550).

Step 3 — Run the Python Script

In a new terminal:

python3 takeoff_waypoints.py

This will:

• Arm the drone
• Take off to a set altitude
• Fly through defined GPS waypoints
• Return and land autonomously

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🧩 3D-Printed Attachments

The stl/ folder contains printable designs for:

• Medical payload containers
• Sensor mounts
• Delivery clamps

Slice using Cura, PrusaSlicer, or similar tools.

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🖼️ Media

The media/ folder contains:

• Photos of the drone prototype
• Simulation snapshots
• Demo flight videos

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👩‍🔬 Developers

Project Leads: Sahil Lakhmani & Shaneshraje Kadu
Institute: IIT (BHU), Varanasi
Group: Aerial Robotics
Club: Aero-Modelling Club, IIT (BHU)

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📜 License

This project is released under the MIT License.

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📬 Contact

📧 [lakhmanisahil8@gmail.com] 🌐 GitHub: @lakhmanisahil

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🕊️ “Delivering diagnostics where roads can’t reach — MeddyBuddy.”