Linux drone

Ensure that your drone is powered on and ready for Jun 13, 2019 · Welcoming the Parrot S. QGroundControl (QGC) is an intuitive and powerful ground control station (GCS) for UAVs. Drones fly over a large area and record video and photo imagery, which is then used by drone mapping software to create detailed maps and models. A Python script to hack all Parrot drones. Read more below. We would like to show you a description here but the site won’t allow us. The automatic line-tracking drone is implemented with a trajectory-planning program that perceives the environment through a fixed camera, uses computer vision to interpret pixels and generate commands, and sends instructions to the drone through serial Bluetooth communication to control the torque of different motors. , RUAVs) such as this MQ-8B Fire Scout are also used. The examples in this section showcase Docker pipelines, however, the syntax is shared across all pipeline types. Some drone manufacturers like 3D Robotics and Yuneec have stayed true to the Open Source Software roots while the industry leader DJI is predominantly closed source and proprietary. Modules. yaml and then add the following: name: drone-test. The command line runner uses the dotenv package to read and parse the secrets file. If the user is root: $ cat /var/log/drone-runner-exec/log. Open Drone ID over Wi-Fi works from broadcast frames without a connection to any specific network. Our Barcode Scanner SDK can be integrated into your mobile or web app in just a few hours to Oct 13, 2014 · The Project will bring together existing open source drone projects and assets under a nonprofit structure governed by The Linux Foundation. On GitHub, go to Repositories, then select the new repository. snoopy-ng. ArduPilot was first ported to Linux on the BeagleBone Black as a proof of concept around 2014. 81. 04 server for example). 1. Tutorial One: Hacking the Parrot AR. Open schematics; APM/ardupilot flight stack compiled for the Pi Zero (sources, instructions) Linux drone using a Debian file system made by Erle Robotics specially for the Pi Zero (available here). This should work on any Linux OS capable of running WebODM, and using a SystemD based service daemon (such as Ubuntu 16. Still in 2014, a DroneAnalyst report from Colin Snow mentioned that thousands of hobbyists and researchers were taking advantage of open-source platforms, whereas 知乎专栏提供一个自由表达和随心写作的平台。 Dec 5, 2013 · The SkyJack drone is a modified Linux-equipped Parrot AR. With its flexibility and robustness, Linux provides a solid foundation for their software and control systems. Connect Your Drone: Connect your drone to your computer using the provided USB cable or via a wireless connection, depending on your drone model and software requirements. Basics. Takes over Parrot drones, deauthenticating their true owner and taking over control, turning them into zombie drones under your own control. Veterans can explore new environments or race one another, while newcomers can hone their flying skills before taking to the field. gz” -if you encounter this file- (To do this you must know how extract . The ubiquity of the electric multi-rotor drone was made possible by Arduino based flight software and Linux based ground station planning software. Emlid, which has previously launched the Raspberry Pi based Navio and HAT-ready Navio2 drone controllers, has now opened $699 pre-sales on a much more advanced Emlid Edge controller Feb 6, 2021 · 2. PX4 is hosted by Dronecode, a Linux Foundation non-profit. sh, select “Properties”, go to the “Permissions” tab, mark the file as executable. A dev kit adds cameras, PS, debug, and more. Docker facilitates easy setup, consistent performance across different systems, and simplifies the process of simulating complex drone Feb 22, 2016 · Drone made with the PXFmini autopilot shield for the Raspberry Pi (available from here). The drone uses a real-time capable Linux kernel, a Debian-based file system and Dronecode’s APM flight stack compiled for the PXFmini autopilot board. The Drone Autoscaler for DigitalOcean can automatically create and destroy Droplets with the Docker runner as needed. Drone 2. 8GHz/SUB-GHz Oct 13, 2014 · Welcome to the Dronecode Project. “A Metasploit-like framework tailored to drone hacking is needed in order to streamline research in an emerging field Oct 13, 2014 · Open-source software powers many consumer drones and UAVs today, and now a new initiative will put those applications under one unified platform managed by the Linux Foundation. The drone uses a real-time capable Linux kernel, a Debian-based file system and Dronecode’s APM flight stack compiled for the PXFmini autopilot board. With over 5000 successful daily flights, Litchi is the. On Ubuntu, open the system settings -> Wi-Fi and for each of the networks that are stored on the machine, click the gear icon and then click forget network. Nov 23, 2017 · All these components have been put together by Erle Robotics in their OS image for the PXFmini. Note: Copy provided by the developer to our Steam Curator. This package contains the Kismet Linux Bluetooth capture helper. Its open-source nature allows developers to customize and fine-tune the software stack for specific drone applications, such as object recognition, path planning, and obstacle avoidance. A Wired report suggests Snapdragon Flight-based UAVs will aim for a mid-range consumer price similar to Parrot’s $300, Linux-based AR. It's been through a lot of changes in the last few years, but today it serves as the governance structure for the components of the overall platform, where the project's actual development occurs. comes pre-packed with this mod. Example step with custom environment variables: 1. - Releases · appleboy/drone-scp Jun 29, 2017 · Now we can start assemble the drone: Get the frame together. This project analyzes the radio frequency communications be-tween the drone and controller using a system implemented in software-dened radio to detect drone presence and identify the type of drone. Automatically creates a shell using Kali Linux. Autel Evo May 1, 2021 · Set up the Raspberry Pi+Pixhawk hardware. This tutorial aims to educate users on the various attack vectors that affect the Parrot AR. This repository provides a C-code function library for encoding and decoding (packing/unpacking) Open Drone ID messages, as the format is defined in the ASTM F3411 Remote ID and the ASD-STAN prEN 4709-002 Direct Remote ID specifications. io, the indie game hosting marketplace Dec 18, 2018 · By Liam Dawe - 18 December 2018 at 2:13 pm UTC | Views: 10,830. It’s one of the best programs for getting practical and professional drone flight practice. – Set up RPI OS to allow communication via UART. RealFlight RF8 Drone Simulator. (Smart Controller, CrystalSky, Phantom 4 Screens) Litchi is compatible with most DJI Drones. For those who love the idea of playing with drones, Liftoff is an interesting drone sim that's available on Linux. It was recommended to me. Oct 20, 2023 · Follow the installation instructions specific to the software and your operating system (Windows, macOS, or Linux). most trusted autonomous flight app for your DJI drone. First, go to your Drone server, log in, and click on User settings in the user menu. DJI technology empowers us to see the future of possible. For the ease of use, the interface has a layout that looks like Metasploit. gz Files using Linux Command Line here ). txt INFO[0000] starting the server INFO[0000] successfully pinged the remote server The Damn Vulnerable Drone simulation and core drone architectural components are integrated within Docker containers, providing a stable, isolated environment for each component of the drone system. PASSWORD=password. pip3 install dronesploit. missionplanner. 24e3878. This CLI framework is based on sploitkit and is an attempt to gather hacking techniques and exploits especially focused on drone hacking. Aug 17, 2023 · FPV Skydive. 对于其他提供商，您可以 在此处阅读 Drone 的官方文档 。. skyjack. Oct 4, 2022 · Czech start-up Dronetag, which is developing Remote ID compliance solutions for drone operators and manufacturers alike, has released a new mobile app called Drone Scanner. M. Tied up the ESC on the frame with tape. Hardware Setup. Dimensions: 400 * 600 mm; Weight: 275 grams fully assembled (battery included) Colour: White Apr 22, 2015 · Not only is spring in the air, so is Linux. Jun 11, 2021 · Today, as a non-profit organization that belongs to the Linux Foundation, Dronecode has set the standards over the last decade in the drone industry with PX4, MAVLink, and Pixhawk. A distributed, sensor, data collection, interception, analysis, and visualization framework. – Set up the RPI SD card and dependencies. Put the battery underneath the frame and attach it to it. Sep 14, 2015 · The consolidation of features in the Snapdragon 801 and Snapdragon Flight board will enable cheaper, lighter 4K ready consumer drones, says Qualcomm. Display the current position and location of the drone in relation to the pilot. VelociDrone is a fast paced multi-player and single player FPV drone racing simulator. Therefore, it is necessary to get Wireshark to sniff using "monitor mode". RealFlight is the most detailed and powerful quadcopter simulator on the market, and its latest version – “RF8” – makes this high-quality product better than ever. Also available on Amazon for DJI monitors. Typical drones use simple point-and-shoot cameras, so the images from drones, while from a different perspective, are similar to any pictures taken from point-and-shoot cameras, i. Automating ineffcient and time-consuming workflows boosts productivity and reduces costs. Last week, Netherlands-based Topic Embedded Systems announced that it had Feb 12, 2018 · Dronecode. Nov 24, 2022 · Cyberattacks against drones that an enterprise owns and operates is an entirely different animal. Own HW and Linux stack MinnowBoard Max* Drone Lure with sensors This is the solution taken for the Linux boards currently supported in Ardupilot. Jan 6, 2014 · Copy files and artifacts via SSH using a binary, docker or Drone CI. 04 server and Red Hat Enterprise Linux 9. by Thibaut Rouffineau on 7 September 2016. This aim of this project is to research and evaluate different methods for passively detecting the presence of drones by analyzing drone and controller Radio Frequency communications. AirSim is a simulator for drones, cars and more, built on Unreal Engine (we now also have an experimental Unity release). Hardware: Basic Drone Components (GPS, motors, ESCs, LiPos etc) Design: How to design your own drone and find the right parts; Building: Assemble and build your drone from the parts that were chosen from the design process; Flying: Basic flying and best practices; Coding: SSH into your Linux drone and configure/code it from the command line VelociDrone is a feature-packed simulator, suiting a range of flyers from novice through to world champions. 0 and GPLv3 (or later), the artwork/images are licensed Litchi. Announced today by 3D Robotic’s CEO Chris Anderson Sep 15, 2017 · The ArduPilot based “Emlid Edge” drone controller runs Linux on a quad -A53 SoC, and offers an HDMI input, long-range 5. This has only been tested on Ubuntu 16. Summary. Parrot collaborates with Canonical to launch the Parrot S. Drone plugin to execute commands on a remote host through SSH. I’m thrilled to announce our partnership with the Linux Foundation to create the new Dronecode Foundation, a non-profit organization that brings together the leading open source UAV software projects under the professional management and leadership of one of the world’s foremost open innovation organizations. Uses Drones 2. – Wire the RPI and Pixhawk together via a UART connection. You can even design your own maps based on real-life tracks using a variety of gates and barriers. Place the motor with all the screws on the frame top. ) and that Wi-Fi or Radio Frequency (RF) signals used by drone platforms are properly encrypted against eavesdropping or Liftoff® is the gateway to the quadcopter racing and freestyle scene, a platform both for pilots with real-life experience and for gamers who are still unfamiliar with the hobby. Offering a robust and flexible platform, Linux provides a solid foundation for building and controlling drones. With drones becoming a common sight in the skies, the need for drone detection becomes a necessity. Litchi for DJI Drones on Android and iOS, everyone's favorite autonomous flight app. The game physics, drone mechanics, and throttle management may need some work behind to match other top-tier FPV simulators. Now connect the raspberry pi zero and the Erle robotics PXFmini together. The free app, available for both iOS and Android devices, tracks all nearby flights using the Remote ID data being broadcast by a drone. Feb 19, 2021 · At 11-light minutes from Earth, no one will fly the dual-propped Ingenuity with a drone controller. You can select any of 20 real-world racing drones to race through through over 20 professionally, or 100+ community-made maps. L. 要访问代码、验证用户身份并添加 webhook 以接收事件，Drone 需要一个适用于 GitHub 的 OAuth 应用程序。. The source code of QGroundControl is dual-licensed under Apache 2. On the Raspberry Pi OS, try first to click the Wi-Fi icon in the top right corner. The drone uses a real-time capable Linux kernel, a Debian-based file system and Dronecode’s APM flight stack Syntax. The LibrePilot open source project was founded in July 2015. If you get lost, the built-in 720p camera with Explore games for Linux tagged drone on itch. Record the home point for ‘Return To Home’ safety feature. ESP-Drone is an open source solution based on Espressif ESP32/ESP32-S2/ESP32-S3 Wi-Fi chip, which can be controlled by a mobile APP or gamepad over Wi-Fi connection. Linux OpenDroneMap can run on any Linux distribution that supports docker. The ground controller, as well as the onboard computer connected to the drone’s Pixhawk 2 autopilot, integrates a 1GHz Cortex-A9 computer running Linux. The flight controls and customizability make practice flights with the program feel very realistic, for better transfer to the real world. Oct 21, 2021 · DRONE is among the first solutions in the digital forensics software market that is built on a foundation that empowers users with much faster speed and simplified user experience, clearing the way from heavy and time-consuming traditional digital forensics solutions. 128. Sep 18, 2019 · Private and public interests converge to advance aviation interoperability for safe and efficient drone operations under Linux Foundation’s open governance and collaboration model SAN FRANCISCO, September 18, 2019 – The Linux Foundation today announced it will host the InterUSS Platform Open Source Project to enable trusted, secure and scalable interoperability between UAS Service Feb 29, 2024 · Bomber Drone. If you have to pick a distribution solely for running OpenDroneMap, Ubuntu is the recommended way to go. Further considerations must be taken to secure onboard storage of the drone, ensure routes drones travel are relatively safe (i. drone exec --secret-file=secrets. 2. Handheld products like Osmo Action 4 and Pocket 2 capture smooth photo and video. Other components include a USB battery, an Alfa AWUS036H wireless transmitter, and an Edimax EW-7811Un wireless adapter. Mechanical features. Inspect the logs and verify the runner successfully established a connection with the Drone server. There is an open sourced SDK for Linux. eac73f5. tar. dunk, a new development kit for the creation of autonomous and obstacle avoidance drones and QGroundControl - Drone Control Downloads is the webpage where you can find the latest versions of QGroundControl for different platforms and devices. One of the project’s primary goals is to provide an open and collaborative environment Mar 28, 2019 · Remember all my gushing about Linux based drones in the Navio2 summary? Well ArduPilot implemented in Linux started out on the BeagleBone platform. But this wasn’t always the case. 4–5. Drone. The primary goal of QGC is ease of use for both first time and professional users. Generate maps, point clouds, 3D models and DEMs from images, any orientation, any camera. Download. PX4 is an open source flight control software for drones and other unmanned vehicles. The project provides a flexible set of tools for drone developers to share technologies to create tailored solutions for drone applications. Once Game Liftoff: FPV Drone Racing for linux is done downloading, Extract (Unzip) “*******. OpenDroneMap is an open source toolkit for processing aerial drone imagery. /start. The program, called Dronecode, aims to help accelerate and broaden drone software through the deep Linux community. Our Ronin camera stabilizers and Inspire X1-Plane is a Linux based smart fixed wing drone that uses robotic frameworks such as ROS (the Robot Operating System) and the award winning APM software autopilot to achieve different navigations modes. non-metric imagery. – Flash ArduPilot firmware to the Pixhawk. 5. drone. It works well with most FPV Remote Controllers, including DJI FPV Remote Controller 2. The following pre-requisites are required: Requires odm user The Drone command line tools are used to interact with the Drone from the command line, and provide important utilities for managing users and repository settings. France-based Parrot also sells a more advanced, Linux This tutorial demonstrates how to build a Linux drone with the Raspberry Pi Zero using a BOM (Bill of Materials) of less than 200 US$. type: docker. txt. Let’s write a basic dronekit python script that will command the drone into the air at some target altitude, and then simply land. Jul 26, 2020 · Dronesploit, a pentesting console framework dedicated to drones, Hakin9. – Control the Pixhawk drone from the Raspberry Pi with MAVProxy AND a simple Dronekit Python script. Allows you to drop bombs directly below or while flying. Best DJI Air 2S rival. io Find games for Linux tagged drone like FPV Freerider, FPV Freerider Recharged, DVR Simulator, Polydrone, SRX [Sky Racing Xperience] - Drone Racing on itch. If you have trouble getting it working directly with your installed Wi-Fi device and drivers, we have been able to get it to work by doing the following: Feb 6, 2024 · The Rise of Linux in Drones. To familiarize yourself with the drone's capabilities, you first need to download the app that gives you manual control of the drone. Barcodes make the transition seamless and can be scanned by any mobile device with a camera and the right software. Whether you need QGroundControl for Windows, Mac, Linux, iOS or Android, you can download it here © 2019 QGroundControl – Drone Control. Mar 15, 2024 · Linux provides a stable and efficient operating system for running AI algorithms on drone hardware, ensuring smooth communication between the drone’s components. Drone provides the ability to define environment variables scoped to individual build steps. ESP-Drone comes with simple hardware, clear and extensible code architecture, and therefore this project can be used in STEAM education and other fields. Jan 6, 2024 · When it comes to drone programming, Linux has emerged as the go-to operating system for enthusiasts and professionals alike. 1. USERNAME=root. Again, this will all be from a python script. This tutorial demonstrates how to build a Linux drone with the Raspberry Pi Zero using a BOM (Bill of Materials) of less than 200 US$. The Solo … Nov 28, 2023 · Extract 1D and 2D barcodes in milliseconds. 0 quadrocopter that adds a similarly Linux-based Raspberry Pi SBC. 8GHz WiFi, and a UAVCAN GNSS module. Jul 9, 2020 · Option 2: Installing the Drone Autoscaler for DigitalOcean. DRONE LOVE FOR EVERYONE. Let’s take a closer look at why Linux-based drones are becoming Oct 15, 2021 · This program supports transmitting static drone ID data via Wi-Fi Beacon or Bluetooth on a desktop Linux PC or Raspberry Pi HW. For each network that is already configured, right-click it and forget the network. yml. Uses any Drone remote but comes with a new remote design. Instead, it will fly itself using a combination of Linux and a NASA-built program based on the Easily pentest drones. e. Provide your secrets file via command line flags when executing your pipeline. This example shows an example of module for DroneSploit aimed to change the password or the SSID of a particular model of drone. If you are having problems with the secrets file please consult the official package documentation. Kismet works with Wi-Fi interfaces, Bluetooth interfaces, some SDR (software defined radio) hardware like the RTLSDR, and other specialized capture hardware. For the usage information and a listing of the available options please take a look at the docs . Jun 29, 2017 · Built on a Raspberry Pi 0/0W/1/2/3, this setup can be quick-installed from a pre-configured image or built from scratch, and has options for a TFT touch screen with a custom-built intuitive touch menu, bluetooth, injection support, and more. As such, the documentation is divided into Setup (Hardware & Software) and Detection Methodologies. A. Liftoff: FPV Drone Racing launched back in September, with it seeing Linux support at release. We will show you methods for both APT and YUM-based distributions, delve into compiling Drone from source, installing a specific version, and finally, how to use the Drone command and ensure it’s installed correctly. The SDK site provides the software and shows how to guide the drone from a Linux workstation; with a console to show the drone operating Kismet is a wireless network and device detector, sniffer, wardriving tool, and WIDS (wireless intrusion detection) framework. He’s even strapped this puppy onto a drone for some high-flying “research”. Sep 12, 2023 · Hacking into Drone signals based on WIFI/2. DRONE 2. kind: pipeline. Binary Downloads Download and install the raw binaries by platform: Aug 5, 2021 · Pros. Resembles the earlier 2010's drone design. Although most large military UAVs are fixed-wing aircraft, rotorcraft designs (i. A request drone type, this is the version for those on Mac or Linux systems. Unmanned aerial vehicle. What is Drone Mapping Software for Linux? Drone mapping software enables organizations and individuals to map and survey large areas of land or structures using an aerial drone or UAV. Includes a catkin workspace with the Robot Operating System Sep 2, 2011 · We’ve purchased an AR Drone, small flying aircraft which can be controlled by a computer or mobile phone over wifi, to be given away at the openSUSE Conference. Setup. You can either go about this with the help of GitHub or use the git command. Early drones relied on either proprietary OSes or simple Arduino-based controllers such as the ArduPilot. While both of these approaches to drone control have been successful, they implicitly limit innovation — the former because they are closed systems, and the latter … Line-Tracking-Drone-for-Linux. Hello Everyone, As the Title states, I am a Linux User. I purchased it, solely to run Liftoff as the Drone Simulator of choice, but I wouldn't mind any simulator for that matter, as long as it works out of install with the BETAFPV Dec 5, 2019 · Progress in developing the tool, dubbed ‘DroneSploit’, was outlined by its developers, Alexandre D’Hondt and Yannick Pasquazzo, during an Arsenal session at the Black Hat Europe conference in London today (December 5). 0. According to docker’s documentation website the officially supported distributions are CentOS, Debian, Ubuntu and Fedora, with static binaries available for others. - InceptionCyberSecurity/OwnDrone Oct 1, 2020 · The radar technology will signal the following on the remote controller display; Signal that enough drone GNSS satellites have been detected and the drone is ready to fly. Jun 26, 2024 · The world's first triple-camera consumer drone is one for aerial image makers, with DJI's industry-leading flying and safety features to boot. May 31, 2024 · In this tutorial, we will guide you on how to install the Drone command on your Linux system. It is the hope here at DroneSec that the reader Sep 15, 2020 · Writing Our First Dronekit Python Script. It is open-source, cross platform, and supports software-in-the-loop simulation with popular flight controllers such as PX4 & ArduPilot and hardware-in-loop with PX4 for physically and visually realistic simulations. Apr 13, 2015 · 3DRobotics today announced its first Linux-based drone, a Solo quadcopter touted as the first Unmanned Aerial Vehicle (UAV) to support full control of GoPro cameras and deliver live-streaming HD video to mobile devices. You can race against live opponents, race against the clock to beat you and your peers fastest times or race offline against Drone mapping software. ⚠️ When starting up the framework, you may have every modules disabled. In my personal opinion, FPV SkyDive is the best free FPV simulator. This program supports transmitting static drone ID data via Wi-Fi Beacon or Bluetooth on a desktop Linux PC or Raspberry Pi HW. . This approach can help with 第 1 步 – 创建 GitHub 应用程序. Topic’s “UAV & Robotics Platform” controller board runs Linux, ROS, and PX4 on a Zynq UltraScale+ and supplies WiFi/BT, GPS, multiple sensors, 4x motor I/Os, and 2x MIPI-CSI. The drone's battery lasts about 13 minutes, and the control range is about 100 meters. Linux, an open-source operating system, has gained popularity in recent years as a reliable choice for drone and UAV manufacturers. A GroundControl Station for Ardupilot. You can choose to either implement this on your SITL vehicle, or on an actual programmable drone. Remote ID is a feature that allows a Mar 11, 2022 · Mar 20, 2022. dunk: the new drone development kit. This project is available on PyPi and can be simply installed using Pip: pip3 install dronesploit. Drone Scanner can track all the nearby flights over Direct Remote ID standards. #1. 3. Wire the ESC and the motor. It is interesting to note this is one of the most common commercial drones on the market today, and also has one of the weakest protected systems. In this training guide, we will explore the advantages of using Linux for drone programming, key features and tools, and crucial takeaways for those embarking Feb 8, 2022 · Feb 8, 2022 — by Eric Brown 994 views. The result will be a common, shared open source platform for Unmanned Aerial Vehicles (UAVs). It focuses on research and development of software and hardware to be used in a variety of applications including vehicle control and stabilization, unmanned autonomous vehicles and robotics. With the success of the ArduPilot Linux port on the BeagleBone Black, the BeagleBone Blue was created. You can use DRONE for: Fully remote endpoint assessment. , free from obstacles, sparsely populated, etc. The Dronecode project is a Linux Foundation-sponsored project working to build a common open source platform for UAV development. Interface. For further information about Open Drone ID and the related specifications, please see the documentation in opendroneid-core-c. 要为 GitHub 设置 OAuth 应用程序，请登录到您的 GitHub 帐户，然后单击 Verification. QGroundControl is a powerful and user-friendly software that allows you to control and plan missions for any drone that uses the MAVLink protocol. Next, click Add file --> Create New file then name it . VelociDrone is an FPV simulator with online multiplayer, single player and offline multiplayer game modes. Velocidrone FPV Racing Simulator. Learn about our consumer drones like DJI Mavic 3 Pro, DJI Mini 4 Pro, DJI Air 3. Try Virtual Flight online for free, and enjoy convenient one-stop device services. Velocidrone is one of the best game-based FPV flight simulators in terms of the physics and ability to customize your quad and your flight environment. Right click the . Because it is intended for operation inside buildings, this range is fine. It gathers the data and presents them to the user on a map. Drone Scanner is an application for scanning surroundings for data broadcasted by Unmanned Aerial Vehicle, such as identification and location. Note: Please update your image config path to appleboy/drone-ssh for drone. 16. I recently purchased the BETAFPV LiteRadio 2 SE, because, well. Find and copy your Personal Token. An unmanned aerial vehicle ( UAV ), commonly known as a drone, is an aircraft without any human pilot, crew, or passengers on board. . It provides full flight control and mission planning for any MAVLink enabled drone, and vehicle setup for both PX4 and ArduPilot powered UAV Sep 12, 2023 · 2) Then, create a new file . mi fa fj iy qj gs uj xv ww qh