edge-ai-MCP
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 | serialThe 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 → FCPrerequisites
cd MCP
pip install -r requirements.txtEnvironment
| 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-flightMission 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.pyDeploy
git remote -v # git@github.com-edge-ai-mcp:basilrari/edge-ai-MCP.git
git push -u origin main
