diff --git a/README.md b/README.md
index abf5a7be06898903861119d69365bad755cc9564..bdeb5387cf8577f0a2d615e07d0980073ea9e067 100644
--- a/README.md
+++ b/README.md
@@ -1,24 +1,4 @@
 # yocto-embedded-tools
 
 #### 介绍
-This repo/branch summarizes the software and tools related to hieuler, serving oee yocto build.
-
-#### 使用说明
-Please reference to subdirectories.
-
-#### 参与贡献
-
-1.  Fork 本仓库
-2.  新建 Feat_xxx 分支
-3.  提交代码
-4.  新建 Pull Request
-
-
-#### 特技
-
-1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
-2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
-3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
-4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
-5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
-6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
+代码放入hi_drone，文件名为openEuler_dronekit，具体使用说明参见其中的README
diff --git a/hi-drone/README.md b/hi-drone/README.md
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/connect.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/connect.py
new file mode 100644
index 0000000000000000000000000000000000000000..ba9f2fdf79b07eb0e110d07bf74d77aaa7ebec0c
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/connect.py
@@ -0,0 +1,50 @@
+from dronekit import connect
+
+# Connect to the Vehicle (in this case a UDP endpoint)
+vehicle = connect('/dev/ttyAMA4', wait_ready=True, baud=921600)
+
+# vehicle is an instance of the Vehicle class
+
+print ("Autopilot Firmware version: %s" % vehicle.version)
+
+print ("Autopilot capabilities (supports ftp): %s" % vehicle.capabilities.ftp)
+
+print ("Global Location: %s" % vehicle.location.global_frame)
+
+print ("Global Location (relative altitude): %s" % vehicle.location.global_relative_frame)
+
+print ("Local Location: %s" % vehicle.location.local_frame)    #NED
+
+print ("Attitude: %s" % vehicle.attitude)
+
+print ("Velocity: %s" % vehicle.velocity)
+
+print ("GPS: %s" % vehicle.gps_0)
+
+print ("Groundspeed: %s" % vehicle.groundspeed)
+
+print ("Airspeed: %s" % vehicle.airspeed)
+
+print ("Gimbal status: %s" % vehicle.gimbal)
+
+print ("Battery: %s" % vehicle.battery)
+
+print ("EKF OK?: %s" % vehicle.ekf_ok)
+
+print ("Last Heartbeat: %s" % vehicle.last_heartbeat)
+
+print ("Rangefinder: %s" % vehicle.rangefinder)
+
+print ("Rangefinder distance: %s" % vehicle.rangefinder.distance)
+
+print ("Rangefinder voltage: %s" % vehicle.rangefinder.voltage)
+
+print ("Heading: %s" % vehicle.heading)
+
+print ("Is Armable?: %s" % vehicle.is_armable)
+
+print ("System status: %s" % vehicle.system_status.state)
+
+print ("Mode: %s" % vehicle.mode.name)    # settable
+
+print ("Armed: %s" % vehicle.armed)    # settable
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/example1.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/example1.py
new file mode 100644
index 0000000000000000000000000000000000000000..68a83a06a8f438b9d47e4ec185565e5f7c33763e
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/example1.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python  
+# -*- coding: utf-8 -*-  
+  
+
+  
+from __future__ import print_function  
+import time  
+from dronekit import connect, VehicleMode, LocationGlobalRelative  
+  
+  
+# 改为当前连接的pixhawk飞控的端口 
+connection_string = '10.42.0.10:14550'  
+print('Connecting to vehicle on: %s' % connection_string)  
+# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle  
+# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机  
+vehicle = connect(connection_string,wait_ready=True,baud=921600)  
+  
+# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度  
+# 参数aTargetAltitude即为目标高度，单位为米  
+def arm_and_takeoff(aTargetAltitude):  
+    # 进行起飞前检查  
+    print("Basic pre-arm checks")  
+    # vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器  
+    # 是否初始化完毕。若以上检查通过，则会返回True  
+    while not vehicle.is_armable:  
+        print(" Waiting for vehicle to initialise...")  
+        time.sleep(1)  
+  
+    # 解锁无人机（电机将开始旋转）  
+    print("Arming motors")  
+    # 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）  
+    vehicle.mode = VehicleMode("GUIDED")  
+    # 通过设置vehicle.armed状态变量为True，解锁无人机  
+    vehicle.armed = True  
+  
+    # 在无人机起飞之前，确认电机已经解锁  
+    while not vehicle.armed:  
+        print(" Waiting for arming...")  
+        time.sleep(1)  
+  
+    # 发送起飞指令  
+    print("Taking off!")  
+    # simple_takeoff将发送指令，使无人机起飞并上升到目标高度  
+    vehicle.simple_takeoff(aTargetAltitude)  
+  
+    # 在无人机上升到目标高度之前，阻塞程序  
+    while True:  
+        print(" Altitude: ", vehicle.location.global_relative_frame.alt)  
+        # 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环  
+        # vehicle.location.global_relative_frame.alt为相对于home点的高度  
+        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:  
+            print("Reached target altitude")  
+            break  
+        # 等待1s  
+        time.sleep(1)  
+  
+# 调用上面声明的arm_and_takeoff函数，目标高度10m  
+arm_and_takeoff(10)  
+  
+# 设置在运动时，默认的空速为3m/s  
+print("Set default/target airspeed to 3")  
+# vehicle.airspeed变量可读可写，且读、写时的含义不同。  
+# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度  
+vehicle.airspeed = 3  
+  
+# 发送指令，让无人机前往第一个航点  
+print("Going towards first point for 30 seconds ...")  
+# LocationGlobalRelative是一个类，它由经纬度(WGS84)和相对于home点的高度组成  
+# 这条语句将创建一个位于南纬35.361354，东经149.165218，相对home点高20m的位置  
+point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)  
+# simple_goto函数将位置发送给无人机，生成一个目标航点  
+vehicle.simple_goto(point1)  
+  
+# simple_goto函数只发送指令，不判断有没有到达目标航点  
+# 它可以被其他后续指令打断，此处延时30s，即让无人机朝向point1飞行30s  
+time.sleep(30)  
+  
+# 发送指令，让无人机前往第二个航点  
+print("Going towards second point for 30 seconds (groundspeed set to 10 m/s) ...")  
+# 与之前类似，这条语句创建了另一个相对home高20m的点  
+point2 = LocationGlobalRelative(-35.363244, 149.168801, 20)  
+# simple_goto将目标航点发送给无人机，groundspeed=10设置飞行时的地速为10m/s  
+vehicle.simple_goto(point2, groundspeed=10)  
+  
+# 与之前一样，延时30s  
+time.sleep(30)  
+  
+# 发送"返航"指令  
+print("Returning to Launch")  
+# 返航，只需将无人机的飞行模式切换成"RTL(Return to Launch)"  
+# 无人机会自动返回home点的正上方，之后自动降落  
+vehicle.mode = VehicleMode("RTL")  
+  
+# 退出之前，清除vehicle对象  
+print("Close vehicle object")  
+vehicle.close()  
+
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/example2.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/example2.py
new file mode 100644
index 0000000000000000000000000000000000000000..210299fef061d4b45d1eb4ac9fd206ed698266ec
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/example2.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python  
+# -*- coding: utf-8 -*-  
+
+
+
+from __future__ import print_function
+import time
+from dronekit import connect, VehicleMode, LocationGlobalRelative
+
+
+# 改为当前连接的pixhawk飞控的端口 
+connection_string = '10.42.0.10:14550'
+print('Connecting to vehicle on: %s' % connection_string)
+# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle  
+# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机  
+vehicle = connect(connection_string,wait_ready=True,baud=921600)
+
+# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度  
+# 参数aTargetAltitude即为目标高度，单位为米  
+def arm_and_takeoff(aTargetAltitude):
+    # 进行起飞前检查  
+    print("Basic pre-arm checks")
+    # vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器  
+    # 是否初始化完毕。若以上检查通过，则会返回True  
+    while not vehicle.is_armable:
+        print(" Waiting for vehicle to initialise...")
+        time.sleep(1)
+
+    # 解锁无人机（电机将开始旋转）  
+    print("Arming motors")
+    # 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）  
+    vehicle.mode = VehicleMode("GUIDED")
+    # 通过设置vehicle.armed状态变量为True，解锁无人机  
+    vehicle.armed = True
+
+    # 在无人机起飞之前，确认电机已经解锁  
+    while not vehicle.armed:
+        print(" Waiting for arming...")
+        time.sleep(1)
+
+    # 发送起飞指令  
+    print("Taking off!")
+    # simple_takeoff将发送指令，使无人机起飞并上升到目标高度  
+    vehicle.simple_takeoff(aTargetAltitude)
+
+    # 在无人机上升到目标高度之前，阻塞程序  
+    while True:
+        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
+        # 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环  
+        # vehicle.location.global_relative_frame.alt为相对于home点的高度  
+        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95: 
+            print("Reached target altitude")
+            break
+        # 等待1s  
+        time.sleep(1)
+
+# 调用上面声明的arm_and_takeoff函数，目标高度10m  
+arm_and_takeoff(10)
+
+# 设置在运动时，默认的空速为3m/s  
+print("Set default/target airspeed to 3")
+# vehicle.airspeed变量可读可写，且读、写时的含义不同。  
+# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度  
+vehicle.airspeed = 3
+
+# 发送指令，让无人机前往第一个航点  
+print("Going towards first point for 30 seconds ...")
+# LocationGlobalRelative是一个类，它由经纬度(WGS84)和相对于home点的高度组成  
+# 这条语句将创建一个位于南纬35.361354，东经149.165218，相对home点高20m的位置  
+point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)
+# simple_goto函数将位置发送给无人机，生成一个目标航点  
+vehicle.simple_goto(point1)
+
+# simple_goto函数只发送指令，不判断有没有到达目标航点  
+# 它可以被其他后续指令打断，此处延时30s，即让无人机朝向point1飞行30s  
+time.sleep(30)
+
+# 发送指令，让无人机前往第二个航点  
+print("Going towards second point for 30 seconds (groundspeed set to 10 m/s) ...")
+# 与之前类似，这条语句创建了另一个相对home高20m的点  
+point2 = LocationGlobalRelative(-35.363244, 149.168801, 20)
+# simple_goto将目标航点发送给无人机，groundspeed=10设置飞行时的地速为10m/s  
+vehicle.simple_goto(point2, groundspeed=10)
+
+# 与之前一样，延时30s  
+time.sleep(30)
+
+# 发送"返航"指令  
+print("Returning to Launch")
+# 返航，只需将无人机的飞行模式切换成"RTL(Return to Launch)"  
+# 无人机会自动返回home点的正上方，之后自动降落  
+vehicle.mode = VehicleMode("RTL")
+
+# 退出之前，清除vehicle对象  
+print("Close vehicle object")
+vehicle.close()
+
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/example3.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/example3.py
new file mode 100644
index 0000000000000000000000000000000000000000..4253aedb6715f6a4b986da62431383033d5b6cbb
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/example3.py
@@ -0,0 +1,125 @@
+#!/usr/bin/env python  
+# -*- coding: utf-8 -*-  
+
+
+
+from __future__ import print_function
+import time
+from dronekit import connect, VehicleMode, LocationGlobalRelative
+from pymavlink import mavutil
+
+# 改为当前连接的pixhawk飞控的端口 
+connection_string = '10.42.0.10:14550'
+print('Connecting to vehicle on: %s' % connection_string)
+# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle  
+# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机  
+vehicle = connect(connection_string,wait_ready=True,baud=921600)
+
+# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度  
+# 参数aTargetAltitude即为目标高度，单位为米  
+def arm_and_takeoff(aTargetAltitude):
+    # 进行起飞前检查  
+    print("Basic pre-arm checks")
+    # vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器  
+    # 是否初始化完毕。若以上检查通过，则会返回True  
+    while not vehicle.is_armable:
+        print(" Waiting for vehicle to initialise...")
+        time.sleep(1)
+
+    # 解锁无人机（电机将开始旋转）  
+    print("Arming motors")
+    # 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）  
+    vehicle.mode = VehicleMode("GUIDED")
+    # 通过设置vehicle.armed状态变量为True，解锁无人机  
+    vehicle.armed = True
+
+    # 在无人机起飞之前，确认电机已经解锁  
+    while not vehicle.armed:
+        print(" Waiting for arming...")
+        time.sleep(1)
+
+    # 发送起飞指令  
+    print("Taking off!")
+    # simple_takeoff将发送指令，使无人机起飞并上升到目标高度  
+    vehicle.simple_takeoff(aTargetAltitude)
+
+    # 在无人机上升到目标高度之前，阻塞程序  
+    while True:
+        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
+        # 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环  
+        # vehicle.location.global_relative_frame.alt为相对于home点的高度  
+        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95: 
+            print("Reached target altitude")
+            break
+        # 等待1s  
+        time.sleep(1)
+
+# 调用上面声明的arm_and_takeoff函数，目标高度10m  
+arm_and_takeoff(10)
+
+# 设置在运动时，默认的空速为3m/s  
+print("Set default/target airspeed to 3")
+# vehicle.airspeed变量可读可写，且读、写时的含义不同。  
+# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度  
+vehicle.airspeed = 3
+
+def send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration=0):
+    msg = vehicle.message_factory.set_position_target_local_ned_encode(
+        0,       # time_boot_ms (not used)
+        0, 0,    # target system, target component
+        mavutil.mavlink.MAV_FRAME_BODY_NED, # frame Needs to be MAV_FRAME_BODY_NED for forward/back left/right control.
+        0b0000111111000111, # type_mask
+        0, 0, 0, # x, y, z positions (not used)
+        velocity_x, velocity_y, velocity_z, # m/s
+        0, 0, 0, # x, y, z acceleration
+        0, 0)
+    for x in range(0,duration):
+        vehicle.send_mavlink(msg)
+        time.sleep(1)
+
+# 让无人机向左飞行,速度10m/s,飞行时间10秒,延迟(duration)10秒这样拐角更方正.
+# x表示前后方向,y表示左右方向,z表示垂直高度方向
+velocity_x = 0
+velocity_y = -10
+velocity_z = 0
+duration = 10
+send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)
+time.sleep(10)
+
+#让无人机向前飞行,速度10m/s,飞行时间10秒
+velocity_x = 10
+velocity_y = 0
+velocity_z = 0
+duration = 10
+send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)
+time.sleep(10)
+
+#也可以用下面这种格式:让无人机向右飞行,速度10m/s,飞行时间10秒
+send_body_ned_velocity(0,10,0,10)
+time.sleep(10)
+
+#最后让无人机向后飞行,速度10m/s,飞行时间10秒,这样无人机就飞出一个正方形
+send_body_ned_velocity(-10,0,0,10)
+time.sleep(10)
+
+# 发送指令，让无人机前往第一个航点  
+print("Going towards first point for 30 seconds ...")
+# LocationGlobalRelative是一个类，它由经纬度(WGS84)和相对于home点的高度组成  
+# 这条语句将创建一个位于南纬35.361354，东经149.165218，相对home点高20m的位置  
+point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)
+# simple_goto函数将位置发送给无人机，生成一个目标航点  
+vehicle.simple_goto(point1)
+
+# simple_goto函数只发送指令，不判断有没有到达目标航点  
+# 它可以被其他后续指令打断，此处延时30s，即让无人机朝向point1飞行30s  
+time.sleep(30)
+# 发送"返航"指令  
+print("Returning to Launch")
+# 返航，只需将无人机的飞行模式切换成"RTL(Return to Launch)"  
+# 无人机会自动返回home点的正上方，之后自动降落  
+vehicle.mode = VehicleMode("RTL")
+
+# 退出之前，清除vehicle对象  
+print("Close vehicle object")
+vehicle.close()
+
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/example4.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/example4.py
new file mode 100644
index 0000000000000000000000000000000000000000..7ea40c9a9f1b9011a0535670d93d0a65d609ecd4
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/example4.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python  
+# -*- coding: utf-8 -*-  
+
+
+from __future__ import print_function
+import time
+from dronekit import connect, VehicleMode, LocationGlobalRelative
+from pymavlink import mavutil
+
+# 改为当前连接的pixhawk飞控的端口 
+connection_string = '/dev/ttyAMA4'
+print('Connecting to vehicle on: %s' % connection_string)
+# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle  
+# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机  
+vehicle = connect(connection_string,wait_ready=True,baud=921600)
+
+# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度  
+# 参数aTargetAltitude即为目标高度，单位为米  
+def arm_and_takeoff(aTargetAltitude):
+    # 进行起飞前检查  
+    print("Basic pre-arm checks")
+    # vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器  
+    # 是否初始化完毕。若以上检查通过，则会返回True  
+    while not vehicle.is_armable:
+        print(" Waiting for vehicle to initialise...")
+        time.sleep(1)
+
+    # 解锁无人机（电机将开始旋转）  
+    print("Arming motors")
+    # 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）  
+    vehicle.mode = VehicleMode("GUIDED")
+    # 通过设置vehicle.armed状态变量为True，解锁无人机  
+    vehicle.armed = True
+ # 在无人机起飞之前，确认电机已经解锁  
+    while not vehicle.armed:
+        print(" Waiting for arming...")
+        time.sleep(1)
+
+    # 发送起飞指令  
+    print("Taking off!")
+    # simple_takeoff将发送指令，使无人机起飞并上升到目标高度  
+    vehicle.simple_takeoff(aTargetAltitude)
+
+    # 在无人机上升到目标高度之前，阻塞程序  
+    while True:
+        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
+        # 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环  
+        # vehicle.location.global_relative_frame.alt为相对于home点的高度  
+        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95: 
+            print("Reached target altitude")
+            break
+        # 等待1s  
+        time.sleep(1)
+
+# 调用上面声明的arm_and_takeoff函数，目标高度3m  
+arm_and_takeoff(3)
+
+# 设置在运动时，默认的空速为3m/s  
+print("Set default/target airspeed to 3")
+# vehicle.airspeed变量可读可写，且读、写时的含义不同。  
+# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度  
+vehicle.airspeed = 3
+
+#定义方向控制
+def send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration=0):
+    msg = vehicle.message_factory.set_position_target_local_ned_encode(
+        0,       # time_boot_ms (not used)
+        0, 0,    # target system, target component
+        mavutil.mavlink.MAV_FRAME_BODY_NED, # frame Needs to be MAV_FRAME_BODY_NED for forward/back left/right control.
+        0b0000111111000111, # type_mask
+        0, 0, 0, # x, y, z positions (not used)
+        velocity_x, velocity_y, velocity_z, # m/s
+        0, 0, 0, # x, y, z acceleration
+        0, 0)
+    for x in range(0,duration):
+        vehicle.send_mavlink(msg)
+        time.sleep(1)
+
+# 让无人机向左飞行,速度0.2m/s,飞行时间(duration)10秒,延迟(sleep)2秒这样拐角更方正.
+# x表示前后方向,y表示左右方向,z表示垂直高度方向
+velocity_x = 0
+velocity_y = -0.2
+velocity_z = 0
+duration = 10
+send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)
+time.sleep(2)
+
+#让无人机向前飞行,速度0.2m/s,飞行时间10秒
+velocity_x = 0.2
+velocity_y = 0
+velocity_z = 0
+duration = 10
+send_body_ned_velocity(velocity_x, velocity_y, velocity_z, duration)
+time.sleep(2)
+
+#也可以用下面这种格式:让无人机向右飞行,速度0.2m/s,飞行时间10秒
+send_body_ned_velocity(0,0.2,0,10)
+time.sleep(2)
+
+#最后让无人机向后飞行,速度0.2m/s,飞行时间5秒,这样无人机就飞出一个正方形
+send_body_ned_velocity(-0.2,0,0,10)
+time.sleep(2)
+# 发送"降落"指令  
+print("Land")
+# 降落，只需将无人机的飞行模式切换成"Land"  
+# 无人机会自动返回home点的正上方，之后自动降落  
+vehicle.mode = VehicleMode("LAND")
+
+# 退出之前，清除vehicle对象  
+print("Close vehicle object")
+vehicle.close()
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/example5.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/example5.py
new file mode 100644
index 0000000000000000000000000000000000000000..c2011cfda7c86685096d32ecdf93864f3b2c3d3f
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/example5.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python  
+# -*- coding: utf-8 -*-  
+
+
+
+from __future__ import print_function
+import time
+from dronekit import connect, VehicleMode, LocationGlobalRelative
+from pymavlink import mavutil
+
+# 改为当前连接的pixhawk飞控的端口 
+connection_string = '/dev/ttyAMA4'
+print('Connecting to vehicle on: %s' % connection_string)
+# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle  
+# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机  
+vehicle = connect(connection_string,wait_ready=True,baud=921600)
+
+# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度  
+# 参数aTargetAltitude即为目标高度，单位为米  
+def arm_and_takeoff(aTargetAltitude):
+    # 进行起飞前检查  
+    print("Basic pre-arm checks")
+    # vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器  
+    # 是否初始化完毕。若以上检查通过，则会返回True  
+    while not vehicle.is_armable:
+        print(" Waiting for vehicle to initialise...")
+        time.sleep(1)
+ # 解锁无人机（电机将开始旋转）  
+    print("Arming motors")
+    # 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）  
+    vehicle.mode = VehicleMode("GUIDED")
+    # 通过设置vehicle.armed状态变量为True，解锁无人机  
+    vehicle.armed = True
+ # 在无人机起飞之前，确认电机已经解锁  
+    while not vehicle.armed:
+        print(" Waiting for arming...")
+        time.sleep(1)
+
+    # 发送起飞指令  
+    print("Taking off!")
+    # simple_takeoff将发送指令，使无人机起飞并上升到目标高度  
+    vehicle.simple_takeoff(aTargetAltitude)
+
+    # 在无人机上升到目标高度之前，阻塞程序  
+    while True:
+        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
+        # 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环  
+        # vehicle.location.global_relative_frame.alt为相对于home点的高度  
+        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
+            print("Reached target altitude")
+            break
+        # 等待1s  
+        time.sleep(1)
+
+# 调用上面声明的arm_and_takeoff函数，目标高度3m  
+arm_and_takeoff(3)
+# 设置在运动时，默认的空速为3m/s  
+print("Set default/target airspeed to 3")
+# vehicle.airspeed变量可读可写，且读、写时的含义不同。  
+# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度  
+vehicle.airspeed = 3
+time.sleep(5)
+# 发送"降落"指令  
+print("Land")
+# 降落，只需将无人机的飞行模式切换成"Land"  
+# 无人机会自动返回home点的正上方，之后自动降落  
+vehicle.mode = VehicleMode("LAND")
+
+# 退出之前，清除vehicle对象  
+print("Close vehicle object")
+vehicle.close()
+
diff --git a/hi-drone/openEuler_dronekit/Dronekit_Demo/example6.py b/hi-drone/openEuler_dronekit/Dronekit_Demo/example6.py
new file mode 100644
index 0000000000000000000000000000000000000000..4009b8ada9b410716f45de8f795b604f0138c3e8
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/Dronekit_Demo/example6.py
@@ -0,0 +1,100 @@
+"""
+Simple script for take off and control with arrow keys
+"""
+
+
+import time
+from dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobal
+from pymavlink import mavutil
+import Tkinter as tk
+
+
+#
+# connection_string = '10.42.0.1:14550'
+print('Connecting...')
+# vehicle = connect('10.42.0.1:14550',wait_ready=False,baud=921600)
+vehicle = connect('/dev/ttyAMA4',wait_ready=False,baud=921600)
+vehicle.wait_ready(True,raise_exception=False)
+
+#
+gnd_speed = 0.2 # [m/s]
+
+#
+def arm_and_takeoff(altitude):
+
+   print("Arming motors")
+   vehicle.mode = VehicleMode("GUIDED")
+   vehicle.armed = True
+
+   while not vehicle.armed: time.sleep(1)
+
+   print("Taking Off")
+   vehicle.simple_takeoff(altitude)
+
+   while True:
+      v_alt = vehicle.location.global_relative_frame.alt
+      print(">> Altitude = %.1f m"%v_alt)
+      if v_alt >= altitude * 0.95:
+          print("Target altitude reached")
+          break
+      time.sleep(1)
+
+#
+def set_velocity_body(vehicle, vx, vy, vz):
+    """ Remember: vz is positive downward!!!
+    
+    
+    Bitmask to indicate which dimensions should be ignored by the vehicle 
+    (a value of 0b0000000000000000 or 0b0000001000000000 indicates that 
+    none of the setpoint dimensions should be ignored). Mapping: 
+    bit 1: x,  bit 2: y,  bit 3: z, 
+    bit 4: vx, bit 5: vy, bit 6: vz, 
+    bit 7: ax, bit 8: ay, bit 9:
+    
+    
+    """
+    msg = vehicle.message_factory.set_position_target_local_ned_encode(
+            0,
+            0, 0,
+            mavutil.mavlink.MAV_FRAME_BODY_NED,
+            0b0000111111000111, #-- BITMASK -> Consider only the velocities
+            0, 0, 0,        #-- POSITION
+            vx, vy, vz,     #-- VELOCITY
+            0, 0, 0,        #-- ACCELERATIONS
+            0, 0)
+    vehicle.send_mavlink(msg)
+    vehicle.flush()
+
+
+#
+def key(event):
+    if event.char == event.keysym: #-- standard keys
+        if event.keysym == 'r':
+            print("r pressed >> Set the vehicle to RTL")
+            vehicle.mode = VehicleMode("RTL")
+        elif event.keysym == 'l':
+            print("l pressed >> Set the vehicle to LAND")
+            vehicle.mode = VehicleMode("LAND")
+
+    else: #-- non standard keys
+        if event.keysym == 'Up':
+            set_velocity_body(vehicle, gnd_speed, 0, 0)
+        elif event.keysym == 'Down':
+            set_velocity_body(vehicle,-gnd_speed, 0, 0)
+        elif event.keysym == 'Left':
+            set_velocity_body(vehicle, 0, -gnd_speed, 0)
+        elif event.keysym == 'Right':
+            set_velocity_body(vehicle, 0, gnd_speed, 0)
+
+
+#
+#
+arm_and_takeoff(0)
+
+#
+root = tk.Tk()
+print(">> Control the drone with the arrow keys. Press r for RTL mode")
+print(">> Control the drone with the arrow keys. Press l for LAND mode")
+root.bind_all('<Key>', key)
+root.mainloop()
+
diff --git a/hi-drone/openEuler_dronekit/README.md b/hi-drone/openEuler_dronekit/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..0ef88de38a3c54bb713b460a63d37811e8ff346e
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/README.md
@@ -0,0 +1,245 @@
+**一、部署ubuntu环境** 
+
+按照openEuler官方部署教程，在ubuntu22.04上部署好相关openEuler环境
+
+**二、下载项目代码** 
+
+将本项目代码openEuler_dronekit通过运行脚本download_repos.sh来自动下载所需五个环境代码包
+
+```
+
+赋予脚本执行权限
+
+chmod +x download_repos.sh
+
+
+下载代码包
+
+./download_repos.sh
+
+
+```
+
+然后将项目代码中的文件夹
+
+1.dronekit-python
+
+2.monotonic
+
+3.python-future
+
+4.pymavlink
+
+5.pyserial
+
+
+依次拷贝到拷贝到docker容器目录中
+
+其命令类似如下
+```
+cp -rf dronekit-python /home/robot/openeuler/build_sd3403/build/hieulerpi1
+
+```
+这里docker容器目录：/home/robot/openeuler/build_sd3403/build/hieulerpi1，是以我电脑为例，用户需要根据自己部署的docker容器目录做修改
+
+
+**三、编译项目代码** 
+
+```
+执行下面命令则进入docker容器目录：
+
+cd /home/robot/openeuler/build_sd3403/build/hieulerpi1
+
+
+
+执行下面命令，切换到openEuler交互环境，用户切换为openeuler：
+
+oebuild bitbake
+
+执行下面命令，加载SDK（注意.后面的空格）
+
+. /opt/openeuler/oecore-x86_64/environment-setup-aarch64-openeuler-linux
+
+依次编译上面第二步拷贝过来的文件夹，例如编译dronekit-python项目(禁止BUILD_TESTING)：
+
+cd dronekit-python
+colcon build --cmake-args -DBUILD_TESTING=False
+
+编译完成后，生成的可执行文件在install目录中
+
+退出openEuler交叉编译环境 exit
+```
+
+**四、 下载** 
+
+（1）由于有五个文件夹编译，会在各个文件夹内生成各自的install文件夹，为了避免混淆建议加前缀，例如dronekit-python文件夹生成的install，重命名加前缀变为dronkit_install，其余四个文件夹中install类似，然后将这些加前缀后的install文件夹压缩tar包后下载到开发板上。
+
+压缩命令类似如下
+
+```
+tar -czvf output_filename.tar.gz folder_to_compress
+```
+
+
+这里我是部署在虚拟机中ubuntu22.04，所以要先把压缩包拷贝到windows下再使用scp命令拷贝到开发板中，这里用户根据自己的情况，方法不限，可以不像我用共享目录，可以用其他办法，只要最后将压缩文件拷贝出便可
+
+
+（2）确保开发板是正常开机状态并且已经刷写了openEuler系统，这一步可以参考
+
+[openEuler使用手册](file:///C:/Users/29063/Desktop/%E6%AC%A7%E6%8B%89%E6%B4%BE/%E3%80%90%E6%98%93%E7%99%BE%E7%BA%B3%E3%80%91%E6%AC%A7%E6%8B%89%E6%B4%BE%20Euler%20Pi/%E3%80%90%E6%98%93%E7%99%BE%E7%BA%B3%E3%80%91%E6%AC%A7%E6%8B%89%E6%B4%BE%20Euler%20Pi/01.%20%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8C/01.%20%E4%BA%A7%E5%93%81%E4%BD%93%E9%AA%8C%E6%89%8B%E5%86%8C/%E6%AC%A7%E6%8B%89%E6%B4%BEEuler%20Pi%20%E5%BF%AB%E9%80%9F%E9%AA%8C%E8%AF%81%E6%89%8B%E5%86%8C.pdf)刷写
+
+用windows终端ssh或者MobaXterm连接开发板，这个用户名和密码在开发板刷机时用户会被要求设置，这里以我板子为例默认网口IP为192.168.10.8，子网掩码为255.255.255.0，所以ssh root@192.168.10.8正常情况网线连接电脑，电脑与开发板同一网段10便可以输入密码连接上。
+
+
+（3）scp命令将五个压缩包依次拷贝到开发板中，命令类似下面
+
+```
+scp -r dronkit_install.tar.gz root@192.168.10.8:/root
+```
+!!!需要注意这里拷贝上面五个intall压缩包后，还需要拷贝Dronekit_Demo文件压缩包，文件位置同样在git项目openEuler_dronekit下，压缩方式类似，这个文件包中的程序为后面控制无人机的控制程序集合
+
+
+（4）开发板的openEuler环境中，修改目录名
+
+在开发板中依次将五个install压缩包解压
+
+解压命令类似如下
+```
+tar -xzvf filename.tar.gz
+```
+
+```
+在开发板的openEuler环境，五个解压后install文件夹类似操作，进入install目录，修改setup.sh：
+
+cd dronkit_install
+vi setup.sh
+
+第十行为colcon的编译目录名，
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/openeuler/build/sd3403/eulercar/install
+.
+我们需要将install目录下的所有文件中，该目录名，替换为，开发板的工作目录名/root/install。类似如下
+
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/root/dronkit_install
+
+这里手动修改，点击i进入编辑模式，修改好后按Esc键退出编辑模式，然后输入:wq保存退出文件
+
+```
+
+
+ 
+ **五、 运行****  
+
+先决条件是需要无人机搭载开发板，用户可以自己DIY无人机，确保无人机飞控为APM，将telem2口连接开发板的RTG排针插口，飞控中要设置telem2口模式offboard，并且波特率为921600，开发板中则需要将串口/dev/ttyAMA4赋权，操作方法见官方手册， 更改uart4复用关系：
+
+```
+bspmm 0x0102F0134 0x1201
+bspmm 0x0102F0138 0x1201
+```
+
+[官方uart操作方法](https://gitee.com/HiEuler/externed_device_sample/tree/master/uart)
+
+用户也可以联系阿木实验室，使用阿木实验室无人机Z410_openEuler款直接使用，无需部署，到手即飞
+
+[阿木实验室官网](https://www.amovlab.com/)
+
+
+```
+实飞使用控制Demo前需要加载环境变量，依次加载前面修改的五个install的setup.sh
+
+source ~/dronkit_install/setup.sh 
+source ~/monotonic_install/setup.sh
+source ~/future_install/setup.sh
+source ~/pymavlink_install/setup.sh
+source ~/pyserial_install/setup.sh
+```
+
+```
+
+开发板中的Dronekit_Demo解压后进入
+
+cd Dronekit_Demo
+
+ls可以看到多个py文件，这些都是连接控制无人机的程序
+
+为了验证整个的软硬件链路是否正常配置，用户可以运行connect.py程序来看程序是否可以正常连接无人机飞控获取相关飞控信息
+
+python connect.py
+
+正常情况下程序运行正常会如下显示：
+sd3403 ~/Dronekit_Demo # python connect.py
+CRITICAL:autopilot:PreArm: Throttle below Failsafe
+CRITICAL:autopilot:PreArm: Hardware safety switch
+Autopilot Firmware version: APM:Copter-4.1.0
+Autopilot capabilities (supports ftp): True
+Global Location: LocationGlobal:lat=0.0,lon=0.0,alt=None
+Global Location (relative altitude): LocationGlobalRelative:lat=0.0,lon=0.0,alt=-0.334
+Local Location: LocationLocal:north=None,east=None,down=None
+Attitude: Attitude:pitch=0.003257771022617817,yaw=0.8752917051315308,roll=-0.01555346418172121
+Velocity: [0.0, 0.0, -0.01]
+GPS: GPSInfo:fix=0,num_sat=0
+Groundspeed: 0.006987953092902899
+Airspeed: 0.0
+Gimbal status: Gimbal: pitch=None, roll=None, yaw=None
+Battery: Battery:voltage=12.333,current=0.65,level=98
+EKF OK?: False
+Last Heartbeat: 0.38181029199998306
+Rangefinder: Rangefinder: distance=None, voltage=None
+Rangefinder distance: None
+Rangefinder voltage: None
+Heading: 50
+Is Armable?: False
+System status: STANDBY
+Mode: STABILIZE
+Armed: False
+
+正常输出上面内容为开发板通过项目程序运行获取飞控相关信息，如固件版本，GPS信号，电池电量等等，上面正常显示代表软硬件链路正常运行，用户可以带上无人机准备户外飞行
+
+```
+
+操作无人机的方法因无人机不同而异，这里我以阿木实验室Z410无人机为例，用户可以参见Z410无人机使用手册来进行操作
+
+[Z410无人机使用手册](https://wiki.amovlab.com/pdf/Z410-4B%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bd%bf%e7%94%a8%e6%89%8b%e5%86%8c.pdf)
+
+
+在无人机进入GPS定点模式，且用户确认无人机相关传感器参数正常，可以正常定点飞行
+
+这时候便可以远程进入openEuler，这里远程建议使用图数传模块，图数传移动端连接开发板网口，图数传地面端连接电脑网口，确保，和之前一样远程ssh连接进入开发板，同样的操作，先依次刷新环境变量，然后进入Demo文件夹，建议再次运行connect程序连接确认没有问题，确认ok之后便可以运行其他程序
+
+```
+
+source ~/dronkit_install/setup.sh 
+source ~/monotonic_install/setup.sh
+source ~/future_install/setup.sh
+source ~/pymavlink_install/setup.sh
+source ~/pyserial_install/setup.sh
+
+cd Dronekit_Demo
+
+python connect.py
+
+```
+
+
+这里实飞程序推荐使用 example4.py，example5.py
+
+
+```
+
+python example5.py
+
+example5.py 控制无人机起飞到 3 米高度，然后悬停 5 秒，再自动降落
+```
+
+```
+
+python example4.py
+
+ 在室外空旷处，此脚本控制无人机起飞到 3 米高度，然后飞出一个 2 米*2 米的正方形，再自动降落
+```
+
+而 example1-3.py，为SITL仿真结合MP地面站运行的python示例，感兴趣的用户可以深度阅读Z410无人机使用手册，其中有详细讲解
+
+
+[Z410无人机使用手册](https://wiki.amovlab.com/pdf/Z410-4B%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bd%bf%e7%94%a8%e6%89%8b%e5%86%8c.pdf)
+
+！！！无人机飞行请谨慎注意，遵守相关法规法律，使用飞行中注意自身安全！！！
diff --git a/hi-drone/openEuler_dronekit/download_repos.sh b/hi-drone/openEuler_dronekit/download_repos.sh
new file mode 100755
index 0000000000000000000000000000000000000000..6b8cf43bcdf46b6cfaa9905cb2e52866ba4674a4
--- /dev/null
+++ b/hi-drone/openEuler_dronekit/download_repos.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# 定义要下载的代码包地址
+REPOS=(
+    "https://github.com/dronekit/dronekit-python.git"
+    "https://github.com/atdt/monotonic.git"
+    "https://github.com/PythonCharmers/python-future.git"
+    "https://github.com/ArduPilot/pymavlink.git"
+    "https://github.com/pyserial/pyserial.git"
+)
+
+# 获取脚本所在目录
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+# 进入脚本所在目录
+cd $SCRIPT_DIR
+
+# 依次克隆每个代码包
+for REPO in "${REPOS[@]}"; do
+    git clone $REPO
+done
+