# Canopy

Autonomous aerial surveillance drone with object detection and tracking.
Part of the AcreWatch project family.

## What is this?

Canopy is a custom-built drone platform that uses computer vision (YOLOv8) running on a Raspberry Pi 5 companion computer to detect and autonomously follow targets. Built on the ArduPilot flight stack with a Holybro X500 V2 frame.

## AcreWatch Family

- **BarkBlaster** - Automated deterrent (sound + water turret)
- **Wi-Spy** - ESP32 CSI passive perimeter detection
- **Canopy** - Aerial surveillance and tracking (this project)

## Hardware

- Holybro X500 V2 ARF Kit (CF frame, motors, ESCs)
- Pixhawk 6C flight controller (ArduPilot)
- Raspberry Pi 5 (8GB) companion computer
- Pi Camera Module 3 Wide (120 deg FOV)
- Matek 3901-L0X optical flow + rangefinder
- Holybro M10 GPS
- ExpressLRS 900MHz radio control
- SiK 915MHz telemetry radio

## Software Stack

- ArduPilot Copter
- YOLOv8n (ultralytics)
- OpenCV + Picamera2
- pymavlink (MAVLink control)
- QGroundControl (ground station)

## Project Status

Phase 1: Prototype - Planning/BOM complete, awaiting parts.

## Docs

- Wiki: https://wiki.jfamily.io (AcreWatch collection)
- BOM: See wiki or drone_prototype_bom.xlsx

## License

Private - A&E Ventures LLC