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Python 3 tutorial: https://docs.python.org/3/tutorial/
Style guide: https://www.python.org/dev/peps/pep-0008/
Color blob detection: https://www.pyimagesearch.com/2015/09/14/ball-tracking-with-opencv/
Accessing pi camera from OpenCV: https://www.pyimagesearch.com/2015/03/30/accessing-the-raspberry-pi-camera-with-opencv-and-python/
Some info on opencv and camera calibration available here: https://github.com/goodrobots/vision_landing
Pixhawk external position estimation such as by cameras: https://dev.px4.io/en/ros/external_position_estimation.html
Offboard control of Pixhawk: https://dev.px4.io/en/ros/offboard_control.html
Mavlink command info: http://ardupilot.org/dev/docs/mavlink-commands.html
Mavlink for dummies: http://api.ning.com/files/i*tFWQTF2R*7Mmw7hksAU-u9IABKNDO9apguOiSOCfvi2znk1tXhur0Bt00jTOldFvob-Sczg3*lDcgChG26QaHZpzEcISM5/MAVLINK_FOR_DUMMIESPart1_v.1.1.pdf
Dronekit basics: http://diydrones.com/profiles/blogs/idiot-s-guide-to-dronekit-python-a-journey-to-whoz-chillin
Communicating with Raspberry Pi via MAVLink: http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html
Mavlink step by step tutorial: https://discuss.ardupilot.org/t/mavlink-step-by-step/9629
Various guides for installing OpenCV: https://www.pyimagesearch.com/opencv-tutorials-resources-guides/
Assuming OS is Raspbian Stretch, follow these instructions for installing opencv and python: https://www.pyimagesearch.com/2017/09/04/raspbian-stretch-install-opencv-3-python-on-your-raspberry-pi/
I had to add -D WITH_OPENEXR=OFF at the end of the cmake command just before the .. to avoid an error about an undefined reference to something in the Imf namespace.
Install dronekit and dronekit sitl: http://python.dronekit.io/guide/quick_start.html#installation
Configure raspberry pi to connect to pixhawk via mavlink: http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html
On raspberry pi 3 in /boot/.txt, add
gpu_mem=128 to give the gpu more memory to work with,
enable_uart=1 to enable the gpio uart,
dtoverlay=pi3-disable-bt to disabled bluetooth. Also required to enable the gpio uart.
Install Python 2.7.14 from: https://www.python.org/downloads/ Be sure to have it install pip.
From admin cmd prompt type:
pip install opencv-contrib-python
pip install numpy
pip install imutils
pip install pyserial
pip install dronekit
pip install dronekit-sitl