sudo apt-get install python-smbus 
sudo apt-get install i2c-tools
# Test is connected device
sudo i2cdetect -y 0
# OR
sudo i2cdetect -y 1
sudo apt-get install git build-essential python-dev 
cd ~ git clone https://github.com/adafruit/Adafruit_Python_PCA9685.git 
cd Adafruit_Python_PCA9685 
sudo python setup.py install 
# if you have python3 installed: 
sudo python3 setup.py install 

pip uninstall gevent
sudo pip install socketIO_client
pip install flask
pip install flask-socketio 

sudo git clone https://code.leftofthedot.com/borhanreo/drone_control.git
cd drone_control
sudo python main.py

pip2 freeze | grep socket
sudo pip2 uninstall gevent-socketio
sudo pip2 uninstall gevent-python
sudo pip2 install python-socketio
sudo pip2 install socketIO-client
sudo pip2 install websocket-client

pip install dronekit
sudo apt-get update
sudo apt-get install screen python-wxgtk2.8 python-matplotlib python-opencv python-pip python-numpy python-dev libxml2-dev libxslt-dev python-lxml
sudo pip install future
sudo pip install pymavlink
sudo pip install mavproxy

python -m serial.tools.list_ports 

export WORKON_HOME=$HOME/.virtualenvs
export VIRTUALENVWRAPPER_PYTHON=/usr/bin/python2.7    
source /usr/local/bin/virtualenvwrapper.sh
source ~/.profile
mkvirtualenv cv -p python2



pip install face_recognition
pip install imutils

pip install dlib or install error
mkdir -p dlib
git clone -b 'v19.6' --single-branch https://github.com/davisking/dlib.git dlib/
cd ./dlib
sudo python setup.py install --compiler-flags "-mfpu=neon"    
https://gist.github.com/ageitgey/1ac8dbe8572f3f533df6269dab35df65

python encode_faces.py --dataset dataset --encodings encodings.pickle --detection-method hog

python pi_face_recognition.py --cascade haarcascade_frontalface_default.xml --encodings encodings.pickle

pip --version    

bash run.sh

python mavlink_lib.py --master=/dev/ttyACM0 --baudrate 115200 --aircraft MyCopter  

bash run.sh  

 mode

mode guided

arm throttle

takeoff 40

param load ..\Tools\autotest\default_params\copter.parm

mode circle
param set circle_radius 2000      

guided 100    

guided 22.376666 -121.54464 120

python mavlink_lib.py --master=/dev/ttyACM0 --baudrate 115200 --aircraft MyCopter    
{"u":"ground","action":"wp","data":"dfjghdfu"}
{"u":"ground","action":"read_channels"}
{"u":"ground","action":"mode","data":"STABILIZE"}
vehicle = connect('/dev/ttyACM0', wait_ready=True)
{"u":"ground","action":"takeoff","data",100}
{"u":"ground","action":"wp_delete"}
{"u":"ground","action":"wp_schedule"}
{"u":"ground","action":"wp_schedule_create","s_id":"1","drone_power_on":"1533570618","flight_start":"1533309500"}
{"u":"ground","action":"wp_schedule_show"}
{"u":"ground","action":"indoor_fly"}
{"u":"ground","action":"set_date_time","year":2018,"month":8,"day":8,"hour":15,"minutes",40,"second":40}
{"u":"ground","action":"wp","data":"QGC WPL 110*0,1,0,16,0,0,0,0,37.619000,-122.381000,10.000000,1*1,0,0,22,0.00000000,0.00000000,0.00000000,0.00000000,37.61905850,-122.38286730,10.000000,1*2,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.61931350,-122.38396170,50.000000,1*3,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.61989130,-122.38484140,50.000000,1*4,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62084310,-122.38501310,50.000000,1*5,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62181190,-122.38486290,50.000000,1*6,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62237270,-122.38351110,50.000000,1*7,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62210080,-122.38248110,50.000000,1*8,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62182890,-122.38108630,50.000000,1*9,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62133600,-122.38031390,50.000000,1*10,0,0,16,0.00000000,0.00000000,0.00000000,0.00000000,37.62050320,-122.37962720,50.000000,1*11,0,0,21,0.00000000,0.00000000,0.00000000,0.00000000,37.61953440,-122.38044260,50.000000,1"}

{"u":"ground","action":"rc_03","data":1120}
{"u":"ground","action":"battery"}
{"u":"ground","action":"reboot"}
{"u":"eagle","action":"location","lat":37.61905850,"lon":"122.38286730","alt":10}

param save ./myparams.parm

master=mpstate.master()
lat = master.field('GLOBAL_POSITION_INT', 'lat', 0) * 1.0e-7
lng = master.field('GLOBAL_POSITION_INT', 'lon', 0) * 1.0e-7 

nano ~/.config/lxsession/LXDE-pi/autostart

@lxterminal

sudo reboot

All power shuld be off
cd /home/pi/development/drone_control
python  python obsAI.py
RC 3 HIGH / THROTTLE 100% MAXIMUM**
POWER ON/ CONNECT BATTERY  DRONE** 
AFTER BEEF COMPLETED then again drone battery power OFF**    
power on or Plug battery again
After beef completer then throttle going to minimum**      
unplug again