├── .gitignore ├── 10_Docker.md ├── 10_MAVLink.md ├── 1_2_Install_Ardupilot.md ├── 1_Assembly ├── ArduPilot_Kakute │ ├── Auto_Tunner.png │ ├── Auto_Tunner2.png │ ├── BLHeliSuite32_Motor_Change_Direction.png │ ├── BLHeliSuite32_Motor_Check.png │ ├── BLHeliSuite32_Motor_Direction.png │ ├── BLHeliSuite32_Motor_Update.png │ ├── BLHeliSuite32_Motor_Update2.png │ ├── BLHeliSuite32_Motor_Update3.png │ ├── Copter_AttitudeControlPID.png │ ├── DFU_check.png │ ├── FrameType_BetaFlight.png │ ├── Gyroscope_calibration.jpg │ ├── KakuteH7_Tekko32.png │ ├── KakuteH7_Tekko32_2.jpg │ ├── Kakute_HAKRC.png │ ├── Kakute_Tekko.png │ ├── Kakute_components.png │ ├── Kakute_prebuilt_board.png │ ├── Kakute_prebuilt_firmware.png │ ├── MPU6000.png │ ├── MissionPlanner_MotorTest.png │ ├── Mission_Planner_setup1.png │ ├── Mot_Type.png │ ├── Motor_BetaFlightX.jpg │ ├── Motor_ESC_Connection_step1.jpg │ ├── Motor_ESC_Connection_step2.jpg │ ├── Motor_ESC_Connection_step3.jpg │ ├── Motor_ESC_Connection_step4.jpg │ ├── Motor_direction_wires_step1.png │ ├── Motor_direction_wires_step2.png │ ├── PID_Parameters.png │ ├── QGroundControl.png │ ├── Sensor-Calibration.png │ ├── Step1_STM32CubeProgrammer.png │ ├── Step2_STM32CubeProgrammer.png │ ├── Tekko32_Pins.png │ ├── Transmitter_Connect.jpg │ ├── Tune_Initial_Table.png │ ├── UAV_log_viewer_attitude.png │ ├── UAV_log_viewer_tuning_result.png │ ├── pid_tuning_interface.jpg │ └── transmitter.png ├── BetaFlight_Aocoda │ ├── Acoda_ESC.png │ ├── Acoda_quadrotor.jpg │ ├── Aocoda_RCH743_pins.png │ ├── Autopilot_ESC.jpg │ ├── BetaFlight_Import_Config.png │ ├── BetaFlight_flash_finished.png │ ├── BetaFlight_interface.png │ ├── Betaflight_Config_flash.png │ ├── Betaflight_Config_save.png │ ├── Configurator_MotorDirection.png │ ├── Configurator_MotorSetting.png │ ├── Flash_Custm_firmware.png │ ├── Flash_online_firmware.png │ ├── Modes_Angle.png │ ├── Modes_Arm.png │ ├── Motor_ESC_Connection_step1.jpg │ ├── Motor_ESC_Connection_step2.jpg │ ├── Receiver_ports.png │ ├── battery_measure.png │ ├── calibrate_acc.png │ ├── current_scale.png │ ├── drone_battery_metter.jpg │ ├── install_betaflight.png │ ├── logo.png │ ├── power_voltage_calibration.png │ └── transmitter.png ├── Chassis │ ├── Lightning_X_Lite.jpg │ ├── Lightning_X_Lite_step1.jpg │ └── Lightning_X_Lite_step2.jpg ├── PX4_X500 │ ├── autoploit.png │ ├── chassis.png │ ├── drone.png │ └── power.png └── Transmitter │ └── protocols.png ├── 2_0_Simulation_ROS.md ├── 2_1_Simulation_ROS_PX4.md ├── 2_1_X500_Pixhawk5.md ├── 2_2_LightningXLite_Kakute.md ├── 2_2_Simulation_ROS_Ardupilot.md ├── 2_3_LightningXLite_Aocoda.md ├── 2_3_Simulation_PX4_Gazebo.md ├── 2_4_Config_Ardupilot.md ├── 2_5_Config_BetaFlight.md ├── 2_6_Transmitter.md ├── 2_Simulation_ROS_Ardupilot ├── Ardupilot_Gazebo_Garden_Mavros.png └── gz_installed_test.png ├── 2_Simulation_Setup_ROS_PX4 ├── Installed_mavros.png ├── gazebo_errors.png ├── px4_gazebo.png ├── px4_ros.png └── px4_version.png ├── 3_Simulation_Gazebo_Control ├── COM_RCL_EXCEPT.png ├── Setting_4_Vicon.png ├── Setting_4_Vicon_height.png └── Setting_4_Vicon_position.png ├── 4_Experiment_Communication_Pi_Pixhawk.md ├── 4_Experiment_OnboardComputer_Pi.md ├── 4_Experiment_OnboardComputer_Setup ├── Drone_components.png ├── GPIO_Raspberry.png ├── Mate_rapspberry.jpg ├── Pi_power_supply.png ├── Pixhawk_raspberry.png ├── RaspberPi_4B.jpg ├── Raspberry_OS.png ├── Raspberry_OS_option1.png ├── Raspberry_OS_option2.png ├── check_ssh_installation.png ├── ntp_on.png ├── ntp_status.png ├── px4_port_raspberry.png ├── px4_telem2_ports.png ├── px4_telen2_ports_drone.jpeg ├── raspberry_pi_imager.png ├── ssh_host_connect.png ├── ssh_host_name.png ├── ssh_pwd_user.png ├── ssh_request.png ├── static_IP.png └── write_mate_2004.png ├── 4_Experiment_ROS_Communication_Pi_BaseStation.md ├── 5_Experiment_Hardware_Setup.md ├── 5_Experiment_Hardware_Setup ├── raspberry_bard.png ├── raspberry_usb.png └── schematic_pixhawks_rasperry.png ├── 6_Vicon ├── ECL_overview.png ├── Vicon_cage.jpg ├── Vicon_calibrate.PNG ├── Vicon_live.png ├── Vicon_object.PNG ├── Vicon_origin.png ├── Vicon_system.png ├── object_name.png ├── static_ip_base_station.png ├── vicon_bridege_setting.png ├── vicon_frame.PNG ├── vicon_in_ros ├── vicon_in_ros.png ├── vicon_rename_in_ros.png ├── vicon_ros_msg.png ├── wand.png └── yaw_oritation.png ├── 6_Vicon_Setup_Use.md ├── 7_Mavros_Controller.md ├── 7_Mavros_Controller ├── bench_test.png └── v1_0.png ├── 8_0_ROS2.md ├── 8_1_Intro_ROS2.md ├── 8_2_Install_ROS2.md ├── 8_3_Config_Workspace.md ├── 8_3_Examples_Pub_Subs.md ├── 8_4_ROS2_Ardupilot_PX4.md ├── 8_Arduploit ├── Ardu_sim_Q.png ├── Arduploit_PX4.png ├── Custmer_build_Arduploit.png ├── ardupilot_interface.png ├── arduploit_simu_test.png ├── arm_throttle.png ├── available_boards.png ├── build_bin.png ├── build_config.png ├── build_result.png ├── choose_download_ardupilot_version.png ├── drone_gazebo_takeoff.png ├── guided.png ├── mavors_state_local_pose.png ├── mavros_topics.png └── takeoff.png ├── 8_ROS2 ├── API_structure.png ├── DDS_ROS2.png ├── Maruyama.ExploringROS2.2016.pdf ├── Nodes-TopicandService.gif ├── ROS2_Index.png ├── ROS2_overlays.png ├── Screenshot from 2023-06-02 17-19-02.png ├── check_local_support.png ├── colcon_build_pkg.png ├── colcon_create_pkg.png ├── colcon_pkg_run.png ├── colcon_source.png ├── grapsh_talker_listener.png ├── structures_ROS_ROS2.png ├── talker_listener.png └── universal.png ├── 9_2_ROS_Ardupilot.md ├── 9_Arduploit.md ├── Readme.md └── digraph prof {.rs /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/* 2 | !.vscode/settings.json 3 | !.vscode/tasks.json 4 | !.vscode/launch.json 5 | !.vscode/extensions.json 6 | !.vscode/*.code-snippets 7 | 8 | # Local History for Visual Studio Code 9 | .history/ 10 | 11 | # Built Visual Studio Code Extensions 12 | *.vsix 13 | 14 | .vscode/ 15 | 16 | *.svg 17 | */*.svg 18 | -------------------------------------------------------------------------------- /10_Docker.md: -------------------------------------------------------------------------------- 1 | Docker is extremely recommended here. 2 | 3 | Tutorials 4 | - basics of docker [Docker 101](https://youtu.be/SAMPOK_lazw?si=h3iRsYHCWNUMp_Cg) 5 | - [Crafting your Dockerfile (Docker and Robotics Pt 3)](https://youtu.be/RbP5cARP-SM?si=9cON1vphcz4puayk) 6 | - [Devices in Docker - Not so simple! (Docker for Robotics #4)](https://youtu.be/uf4zOigzTFo?si=kWSsGsG1fZFuZSPV) 7 | 8 | -[ROS2 Docker GUI for Windows and Linux](https://youtu.be/qWuudNxFGOQ?si=INaxeDXXT0q3TFmI) 9 | 10 | - [Commands ref](https://github.com/noshluk2/ros1_wiki/blob/main/docker/commands.md) 11 | 12 | - [Docker compose](Docker Compose) -------------------------------------------------------------------------------- /10_MAVLink.md: -------------------------------------------------------------------------------- 1 | # Mavlink interface between autopilot and onboard computer 2 | 3 | ## Mavpoxy 4 | ```shell 5 | sudo apt-get install python3-dev python3-opencv python3-wxgtk4.0 python3-pip python3-matplotlib python3-lxml python3-pygame 6 | pip3 install PyYAML mavproxy --user 7 | echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc 8 | 9 | ``` 10 | 11 | 1. Connect to autopilot 12 | ```shell 13 | mavproxy.py --master=/dev/ttyUSB0 14 | ``` 15 | 16 | -------------------------------------------------------------------------------- /1_2_Install_Ardupilot.md: -------------------------------------------------------------------------------- 1 | # Install Ardupilot firmware on drone 2 | ## 1 Obtain Ardupilot firmware 3 | ### 1.1 build Ardupilot firmware from source code 4 | 1. use Waf to build an ardupliot firmware for the chosen board. Tutorials to use Waf https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md. 5 | - clean previous built firmware 6 | ```shell 7 | cd ardupliot 8 | ./waf distclean 9 | ``` 10 | - The available list can be found by 11 | ```shell 12 | cd ardupliot 13 | ./waf list_boards 14 | ``` 15 |
16 | 17 |
18 | 19 | - video tutorial for next two steps https://youtu.be/lNSvAPZOM_o. 20 | - choose firmware - it is Pixhawk5X for us 21 | ```shell 22 | cd ardupliot 23 | ./waf configure --board Pixhawk5X 24 | ``` 25 |
26 | 27 |
28 | 29 | - build it 30 | ```shell 31 | cd ardupliot 32 | ./waf copter 33 | ``` 34 |
35 | 36 |
37 | 38 | - find the built ardupliot file at /ardupliot/build/board_name/bin, like 39 |
40 | 41 |
42 | 43 | ### 1.2 Download Arduploit firemware directly from online sources 44 | 1. we can download an Arduploit firmware at https://firmware.ardupilot.org/ choosing 45 | + drone type 46 | + board of autoploit 47 | + **features that are needed** 48 |
49 | 51 |
52 | 53 | 2. we can find version 4.3. and its corresponding files for Pixhwask5 54 |
55 | 57 |
58 | 59 | ## 2 burn Ardupilot to drone 60 | -------------------------------------------------------------------------------- /1_Assembly/ArduPilot_Kakute/Auto_Tunner.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/1_Assembly/ArduPilot_Kakute/Auto_Tunner.png -------------------------------------------------------------------------------- /1_Assembly/ArduPilot_Kakute/Auto_Tunner2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/1_Assembly/ArduPilot_Kakute/Auto_Tunner2.png -------------------------------------------------------------------------------- /1_Assembly/ArduPilot_Kakute/BLHeliSuite32_Motor_Change_Direction.png: 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- **PX4** as framework of autopilot, 7 | - **mavros** for communication between PX4 and ROS, 8 | - Controller library (optional). 9 | 10 | ## Table of contents 11 | - [Step 1 Install ROS](#step-1-install-ros) 12 | - [Step 2 Build PX4 from source code](#step-2-build-px4-from-source-code) 13 | - [Step 2.5 Enable roslaunch to launch PX4 in Gazebo](#step-25-enable-roslaunch-to-launch-px4-in-gazebo) 14 | - [Step 3 Build mavros (Mavlink) from source code](#step-3-build-mavros-Mavlink-from-source-code) 15 | 16 | 17 | ## Step 1 Install ROS 18 | ROS version should be chosen according to OS. Now, ROS LTS (see [here](http://wiki.ros.org/ROS/Installation)) are provided for 19 | - Ubuntu 18.04 (ROS Melodic), 20 | - Ubuntu 20.04 (ROS Noetic). 21 | 22 | Installing guide of Noetic for Ubuntu 20.04 can be found [here](http://wiki.ros.org/noetic/Installation/Ubuntu). 23 | 24 | ## Step 2 Build PX4 from source code 25 | 1. Download PX4 of version 1.12.3 26 | ```bash 27 | cd Robot_Firmware # somewhere you like 28 | git clone -b v1.12.3 https://github.com/PX4/PX4-Autopilot.git --recursive 29 | ``` 30 | Check PX4 version with 31 | ```bash 32 | git describe 33 | ``` 34 | we should get 35 |
36 | 38 |
px4 version
39 |
40 | 41 | 2. Run the script to install dependencies and tools for nuttx, jMAVSim, Gazebo s 42 | ```bash 43 | cd PX4-Autopilot 44 | bash ./Tools/setup/ubuntu.sh 45 | ``` 46 | 3. Test PX4 within Gazebo 47 | ```bash 48 | make px4_sitl gazebo 49 | ``` 50 | ## Step 2.5 Enable roslaunch to launch PX4 in Gazebo 51 | Following steps of *Install PX4 SITL(Only to Simulate)* [here](https://github.com/ZhongmouLi/mavros_controllers) 52 | ```shell 53 | cd PX4-Autopilot 54 | DONT_RUN=1 make px4_sitl_default gazebo 55 | ``` 56 | In cases of errors, do 57 | ```bash 58 | cd PX4-Autopilot 59 | make clean 60 | rm -r ~/catkin_ws/devel ~/catkin_ws/build 61 | ``` 62 | 63 | Modify .bashrc by adding 64 | (replace ${address_of_PX4-Autopilot} by where you install PX4-Autopilot int the following commande) 65 | 66 | 67 | ```bash 68 | source ${address_of_PX4-Autopilot}/Tools/setup_gazebo.bash ${address_of_PX4-Autopilot} ${address_of_PX4-Autopilot}/build/px4_sitl_default 69 | export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${address_of_PX4-Autopilot} 70 | export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${address_of_PX4-Autopilot}/Tools/sitl_gazebo 71 | ``` 72 | 5. Check if ros can find px4 package 73 | ```bash 74 | rospack find px4 75 | ``` 76 | It should give 77 | 78 |
79 | 81 |
px4 found by ros
82 |
83 | 84 | Finally, it should be able to use roslaunch to create px4-gazebo simulation environment by 85 | ```bash 86 | roslaunch px4 posix_sitl.launch 87 | ``` 88 |
89 | 91 |
px4-gazebo simulation environment
92 |
93 | 94 | 95 | Common errors: 96 | 1. gazebo dies 97 |
98 | 99 |
gazebo errors
100 |
101 | 102 | do 103 | ```bash 104 | ps aux | grep gzserver 105 | kill -2 106 | ``` 107 | 108 | ## Step 3 Build mavros (Mavlink) from source code 109 | Mavlink is a protocol for communicating with drones (PX4). 110 | 111 | There are two ways of using Mavlink for communication 112 | - mavros wrappers Mavlink into ROS, 113 | - MavSDK provides various programming languages to interface with Mavlink systems. 114 | 115 | Our development is conducted in ROS, thus is natural to consider using Mavlink somehow in ROS for the purpose of communicating with drones in ROS environment. Therefore, we take mavros. 116 | 117 | PX4 provides guides to install mavros and Mavlink [ROS with MAVROS Installation Guide](https://docs.px4.io/master/en/ros/mavros_installation.html) 118 | 119 | Here we show do to build MAVROS from source code . 120 | 121 | 122 | 1. Install building and managing tools, **catkin_tools** and **wstool** see the [install catkin tools](https://catkin-tools.readthedocs.io/en/latest/installing.html) and [install wstool](http://wiki.ros.org/wstool). 123 | 124 | 2. Create catkin workspace using catkin tools 125 | ```bash 126 | cd ~ 127 | mkdir catkin_ws 128 | cd catkin_ws 129 | mkdir src 130 | catkin init 131 | ``` 132 | Then, add the path of catkin_ws into .bashrc 133 | ```bash 134 | echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc 135 | ``` 136 | 137 | 3. Initialize your source space with wstool. The target directory of wstool is src 138 | 139 | ```bash 140 | cd catkin_ws 141 | wstool init ./src 142 | ``` 143 | 144 | 4. Install Mavlink 145 | (1). note: tee is to write the output of rosinstall_generator into the file mavros.rosinstall 146 | 147 | ```bash 148 | # We use the Kinetic reference for all ROS distros as it's not distro-specific and up to date 149 | rosinstall_generator --rosdistro kinetic Mavlink | tee /tmp/mavros.rosinstall 150 | ``` 151 | 152 | (2). install MAVROS with stable one 153 | ```bash 154 | rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall 155 | ``` 156 | As a consequence, we can cat the "/temp/mavros.rosinstall" that is shown below. We can see from that, wstool just records the git rep information, such as URL, branch name and version. 157 | 158 | ```bash 159 | - git: 160 | local-name: Mavlink 161 | uri: https://github.com/Mavlink/Mavlink-gbp-release.git 162 | version: release/kinetic/Mavlink/2021.3.3-1 163 | 164 | - git: 165 | local-name: mavros 166 | uri: https://github.com/Mavlink/mavros.git 167 | version: 1.10.0 168 | ``` 169 | 170 | 5. Create workspace & deps (explanation of wstool see [here](https://docs.ros.org/en/independent/api/rosinstall/html/rosws.html)) 171 | 172 | ```bash 173 | # run this commande in /catkin_ws which merges config in /tmp/mavros.rosinstall to src/.rosinstall 174 | wstool merge -t src /tmp/mavros.rosinstall 175 | 176 | # This command pulls changes from remote to your local filesystem. 177 | # download the source codes from git 178 | wstool update -t src -j4 179 | 180 | // 181 | rosdep install --from-paths src --ignore-src -y 182 | ``` 183 | 184 | 6. Install [GeographicLib](https://geographiclib.sourceforge.io/) dataset 185 | 186 | ```bash 187 | ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh 188 | 189 | # if /bin/bash^M: bad interpreter: No such file or directory 190 | Try running *dos2unix* on the script: 191 | 192 | http://dos2unix.sourceforge.net/ 193 | ``` 194 | 195 | 7. build source 196 | 197 | ```bash 198 | cd catkin_ws 199 | catkin build 200 | ``` 201 | 202 | 8. use setup.bash or setup.zsh from workspace. 203 | 204 | ```bash 205 | cd catkin_ws 206 | source ./devel/source.bash 207 | ``` 208 | 209 | 9. check if MAVROS and Mavlink are well installed 210 | 211 | ```bash 212 | rospack find mavros 213 | 214 | rospack find Mavlink 215 | ``` 216 | 217 | 218 | which gives 219 | 220 |
221 | 223 |
mavros and Mavlink are installed
224 |
225 | 226 | 10. run mavros for communication in simulation 227 | ```bash 228 | roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557" 229 | ``` 230 | Note ```fcu_url:="udp://:14540@127.0.0.1:14557"``` indicates that a drone is simulated by this PC. 231 | -------------------------------------------------------------------------------- /2_1_X500_Pixhawk5.md: -------------------------------------------------------------------------------- 1 | # Assembly X500 drone kits 2 | This note shows main steps to build a drone from kits (hardware). 3 | 4 | Tutorial in details can be found [https://docs.px4.io/main/en/frames_multicopter/holybro_x500V2_pixhawk5x.html](https://docs.px4.io/main/en/frames_multicopter/holybro_x500V2_pixhawk5x.html). 5 | 6 | ## 1. Drone kits and commercial elements 7 | 1. Drone frame Kits: [Holybro X500 V2 Kit](http://www.holybro.com/product/x500-v2-kit/) cluding 8 | - X500 V2 Frame Kit 9 | - Motors – Holybro 2216 KV920 Motor 10 | - ESCs – BLHeli S ESC 20A 11 | - Self locking propellers 1045 (cheaper options T1045 Self locking Props) 12 | - Power Distribution Board – XT60 plug for battery & XT30 plug for ESCs & peripherals 13 | 2. Autopliot and framework 14 | - Pixhawk 4 mini and Pixhawk 5 15 | - PX4 version (1.12) 16 | 3. Onboard computer and OS 17 | - Raspberry PI 4b+ 18 | 4. Remote controller and receiver 19 | - FrSky Taranis X9D 20 | - FRsky X8R 21 | ## 2. Overview of main elements 22 |
23 | drawing 25 |
26 | 27 | ## 3. Steps 28 | ### 3.1 Build chassis 29 |
30 | drawing 32 |
33 | 34 | ### 3.2 Connect power module 35 |
36 | drawing 38 |
39 | 40 | ### 3.3 Drone is ready. 41 |
42 | drawing 44 |
45 | -------------------------------------------------------------------------------- /2_2_LightningXLite_Kakute.md: -------------------------------------------------------------------------------- 1 | ## 1 Develop kits 2 | 1. Drone frame: 3 | - Chassis TransTEC Lightning X Lite 4 | - Motor FPV 致盈EX2306 PLUS [site in Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.27.52b858176s1EdF&id=634695941707) 5 | 2. ESC: 6 | - [Tekko32 F4 Metal 4in1 65A ESC (65A)](https://holybro.com/collections/fpv-esc/products/tekko32-f4-metal-4in1-65a-esc-65a) 7 | - [HAKRC 3260A ESC BLHeli-32 ](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.32.193244beujIlvo&id=624599427940) 8 | 3. Autopilot and framework 9 | - Kakute H7 v1.3 [site in Taobo](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.28.56917484ySIhA5&id=684452325988) 10 | - Ardupilot 4.3 11 | 4. Onboard computer and OS 12 | - Navidia NX 13 | - Ubuntu 20.04 14 | 5. Transmitter 15 | - RadioLink AT9S Pro 16 | - RadioLink R12DSM [Site in Tabo](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565) 17 | 18 | 6. Useful notes 19 | - CUAV on Copters [https://doc.cuav.net/tutorial/copter/](https://doc.cuav.net/tutorial/copter/) 20 | - ArduPilot Copter [https://ardupilot.org/copter/index.html](https://ardupilot.org/copter/index.html) 21 | - [How to methodically tune (almost) any multicopter using ArduCopter 4.4.x](https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842), please read this together with this tutorial. 22 | - [Analytical Multicopter Flight Controller PID Optimization](https://discuss.ardupilot.org/t/analytical-multicopter-flight-controller-pid-optimization/109759). 23 | 24 | ## 2. Assembly and configuration steps for manual flights 25 | ### 2.1 Build chassis 26 | First, take parts from Lightning X Lite and prepare alex keys. 27 |
28 | 30 |
31 | 32 | We build the base like the picture below. Then, we add the upper part and use M3 screws to fix them together. 33 | 34 | | | | 35 | | ----------------------------------- | ----------------------------------- | 36 | | ![](1_Assembly/Chassis/Lightning_X_Lite_step1.jpg) | ![](1_Assembly/Chassis/Lightning_X_Lite_step2.jpg) | 37 | 38 | 39 | It is the time to place them on the chassis 40 | 41 | ### 2.2 Link ESC with power and actuation modules 42 | Lets take Tekko32 for example. 43 | 44 | First, we its order for motors. 45 |
46 | 48 |
49 | 50 | Then we place four motors in the correct order. We weld them like this 51 | 52 | | | | 53 | | ----------------------------------- | ----------------------------------- | 54 | | ![](1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step1.jpg) | ![dog](1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step2.jpg) | 55 | 56 | 57 | After that, we weld a power wire with XT60 and a 35v 470uf capacitance to the power input of Tekko32. 58 | 59 |
60 | 62 |
63 | 64 | ### 2.3 Connect autopilot to ESC 65 | ### Kakute H7 to Tekko32 66 | Following the instruction shown below 67 |
68 | 70 |
71 | we weld them like 72 |
73 | 75 |
76 | 77 | 78 | #### Kakute H7 to HAKRC 79 |
80 | 82 |
83 | 84 | ### 2.4 Connect transmitter and receiver 85 | It can been that [RadioLink R12DSM](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565) supports S.BUS and PPM protocols. 86 | 87 | Also, check pins of Kakute at [Holybro Kakute H7 V1](https://ardupilot.org/copter/docs/common-holybro-kakuteh7.html). 88 | 89 | Therefore, the three ports of R12DSM should be connected to Kakute in the following way: 90 | - "+" of R12DSM ----> 5V of Kakute 91 | - "-" of R12DSM ----> GND of Kakute 92 | - "S.B/PPM" of R12DSM ----> RX6 of Kakute 93 | 94 |
95 | 97 |
98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /2_2_Simulation_ROS_Ardupilot.md: -------------------------------------------------------------------------------- 1 | 2 | ## 1 Build Gazebo environment 3 | It is suggested to choose one gazebo version between [Gazebo Garden](#1.1-gazebo-garden) and [Gazebo 11](#1.2-gazebo-11) 4 | 5 | 6 | Main references are 7 | - [Using SITL with Gazebo](https://ardupilot.org/dev/docs/sitl-with-gazebo.html) for Gazebo Garden. 8 | - [Using SITL with legacy versions of Gazebo](https://ardupilot.org/dev/docs/sitl-with-gazebo-legacy.html#sitl-with-gazebo-legacy) for Gazebo 11. 9 | 10 | ### 1.1 Gazebo Garden 11 | 12 | Install Gazebo Garden following the steps at [Docs/Gazebo Garden-->Binary Installation on Ubuntu](https://gazebosim.org/docs/garden/install_ubuntu), which are 13 | ```shell 14 | sudo apt-get update 15 | sudo apt-get install lsb-release wget gnupg 16 | ``` 17 | and then 18 | ```shell 19 | sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 20 | echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null 21 | sudo apt-get update 22 | sudo apt-get install gz-garden 23 | ``` 24 | To test if the installation is done, we can run 25 | ```shell 26 | gz sim -v4 -r shapes.sdf 27 | ``` 28 | and it is OK if we can see 29 |
30 | 31 |
32 | 33 | ### 1.2 Gazebo 11 34 | 35 | Video tutorials provided by Intelligent Quads can be found on Youtube [Drone Dev Environment Ubuntu 20 04 Update](https://youtu.be/1FpJvUVPxL0) 36 | 37 | 38 | Given that our development environments are 39 | - Ubunt 20.04 40 | - ROS noetic 41 | - Gazebo 11.12.0 42 | 43 | 0. install gazebo 11 44 | ```shell 45 | sudo apt-get install gazebo11 libgazebo11-dev 46 | ``` 47 | 1. get source code of Ardupilot plugins for gazebo 11.X 48 | ```shell 49 | cd where_you_want 50 | git clone https://github.com/khancyr/ardupilot_gazebo 51 | ``` 52 | 53 | 2. build ardupilot plugins for gazebo 11.X 54 | ```shell 55 | mkdir build 56 | cd build 57 | cmake .. 58 | make -j4 59 | sudo make install 60 | echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc 61 | ``` 62 | 3. add the path of models and worlds provided by ardupilot plugins into .bashrc after you change where_your_ardupilot_gazebo_is below 63 | ```shell 64 | echo 'export GAZEBO_MODEL_PATH=where_your_ardupilot_gazebo_is/ardupilot_gazebo/models' >> ~/.bashrc 65 | ``` 66 | 4. add gazebo mode path 67 | ```shell 68 | echo "GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/catkin_ws/src/iq_sim/models" >> ~/.bashrc 69 | ``` 70 | 5. launch a gazebo environment with iris model with iq_sim pkg 71 | - get source code of iq_sim 72 | ```shell 73 | git clone https://github.com/Intelligent-Quads/iq_sim.git 74 | ``` 75 | - add mode path of iq_sim to gazebo 76 | ```shell 77 | echo "GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$HOME/catkin_ws/src/iq_sim/models" >> ~/.bashrc 78 | ``` 79 | - build and resource iq_sim pkg 80 | - roslaunch gazebo env of iris_arducopter_runway 81 | ```shell 82 | roslaunch iq_sim runway.launch 83 | ``` 84 | 85 | ## 2 Install and run Ardupilot firmware in simulation 86 | ### 2.1 Install Ardupilot 87 | Check Youtube [Drone Dev Environment Ubuntu 20 04 Update](https://youtu.be/1FpJvUVPxL0) to install Ardupilot. 88 | 89 | Read [Setting up the Build Environment (Linux/Ubuntu)](https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux). 90 | 91 | ### 2.2 Simulate a single quadrotor with Ardupilot 92 | Run ardupilot firmware 93 | ```shell 94 | cd Ardupilot/ArduCopter 95 | sim_vehicle.py -v ArduCopter -f gazebo-iris --console 96 | # OR 97 | sim_vehicle.py -v ArduCopter --console --map 98 | ``` 99 | we should find an interface, a council and a terminal. 100 |
101 | 103 |
104 | 105 | ### 3 Enable ROS communication with Ardupilot using mavros 106 | The ROS package mavros provides support for Ardupilot. Then we can run mavros to get drone information into ROS. 107 | 108 | In simulation, we specify '''fcu_url:=udp://127.0.0.1:14551@14555'''. 109 | ```shell 110 | roslaunch mavros apm.launch fcu_url:=udp://127.0.0.1:14551@14555 111 | ``` 112 | 113 | With the help of mavros, we can get mavros topics in ROS showing drone information 114 |
115 | 117 |
118 | 119 | Since we command the drone to switch to guided mode and take off to a height of 5m with 120 | ```shell 121 | mode guided 122 | arm throttle 123 | takeoff 5 124 | ``` 125 | then we check drone state and position in ROS 126 | ```shell 127 | rostopic echo /mavros/state 128 | rostopic echo /mavros/local_position/pose 129 | ``` 130 | with the state being guided and position being 5m 131 |
132 | 134 |
135 | 136 | 137 | ### 3 Test simulation of Ardupilot in Gazebo and communication using mavros 138 | 139 | #### 3.1 Gazebo Garden 140 | 1. run 141 | ```shell 142 | gz sim -v4 -r iris_runway.sdf 143 | ``` 144 | 145 | 2. run Ardupilot firmware 146 | ```shell 147 | cd Ardupilot/ArduCopter 148 | sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console 149 | ``` 150 | 151 | 3. run mavros to enable communication between Ardupilot and ROS 152 | ```shell 153 | roslaunch mavros apm.launch fcu_url:=udp://127.0.0.1:14551@14555 154 | ``` 155 | 156 | 4. make drone switch to guided mode and take off 157 | In the same terminal of running sim_vehicle.py, we use the following commands to make the drone take off 158 | ```shell 159 | mode guided 160 | arm throttle 161 | takeoff 5 162 | ``` 163 | We should see the drone take off and hover in Gazebo 164 |
165 | 167 |
168 | 169 | if we echo rostopics /mavros/state and /mavros/local_position/pose, then we should find 170 | - the drone's mode is guided 171 | - its height is 5m. 172 | 173 | #### 3.2 Gazebo 11 174 | 1. run Gazebo environment 175 | ```shell 176 | gazebo --verbose worlds/iris_arducopter_runway.world 177 | ``` 178 | 179 | 2. run Ardupilot firmware 180 | ```shell 181 | cd Ardupilot/ArduCopter 182 | ../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map 183 | ``` 184 | 185 | 3. -- 4. are the same with Gazebo Garden 186 | 187 |
188 | 190 |
191 | -------------------------------------------------------------------------------- /2_3_LightningXLite_Aocoda.md: -------------------------------------------------------------------------------- 1 | # 1 Develop kits 2 | 1. Drone frame: 3 | - Chassis TransTEC Lightning X Lite 4 | - Motor FPV 致盈EX2306 PLUS [site in Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.27.52b858176s1EdF&id=634695941707) 5 | 2. ESC: Aocoda 60A 4 in 1 [site in Taobao](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xw5sv5&id=682898024012) 6 | 7 | 3. Autopilot and framework 8 | - Aocoda RC H743 [site in Taobo](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xUOMZu&id=679995875558) 9 | - BetaFlight 4.4.0 10 | 4. Onboard computer and OS 11 | - Navidia NX 12 | - Ubuntu 20.04 13 | 5. Transmitter 14 | - RadioLink AT9S Pro 15 | - RadioLink R12DSM [Site in Tabo](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565) 16 | 6. Workstation 17 | - Ubuntu 20.04 18 | 19 | # 2 Assembly MAVs 20 | ## 2.1 Build chassis 21 | First, take parts from Lightning X Lite and prepare alex keys. 22 |
23 | 25 |
26 | 27 | We build the base like the picture below. Then, we add the upper part and use M3 screws to fix them together. 28 | 29 | | | | 30 | | ----------------------------------- | ----------------------------------- | 31 | | ![](1_Assembly/Chassis/Lightning_X_Lite_step1.jpg) | ![](1_Assembly/Chassis/Lightning_X_Lite_step2.jpg) | 32 | 33 | 34 | It is the time to place them on the chassis 35 | 36 | ### 2.2 Link ESC with power and actuation modules 37 | Lets take Tekko32 for example. 38 | 39 | First, we its order for motors. 40 |
41 | 43 |
44 | 45 | We weld a power wire with XT60 and a 35v 470uf capacitance to the power input of Acoda ESC. Then, we weld four motors in the correct order. We weld them like this 46 | 47 | | | | 48 | | ----------------------------------- | ----------------------------------- | 49 | | ![](1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step1.jpg) | ![dog](1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step2.jpg) | 50 | 51 | 52 | ### 2.3 Connect autopilot to ESC 53 | 54 | We can find the pins of ESC and autopilot at the [Aocoda 60A 4 in 1](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xw5sv5&id=682898024012) and [Aocoda RC H743](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xUOMZu&id=679995875558). 55 | 56 |
57 | 59 |
60 | 61 | More specifically, they share the same structure and we can connect them directly like this 62 |
63 | 65 |
66 | 67 | 68 | ## 2.4 Connect receiver to autopilot 69 | It can been from [Site in Tabo](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565) that R12DSM supports S.BUS and PPM protocols working with 4.8v-6v. 70 | 71 | Also, check pins of Aocoda and find RX1 is for receivers. Note that R12DSM needs to be connected 5v instead of 4.5v (example in the image). 72 | 73 | 74 | Therefore, the three ports of R12DSM should be connected to Kakute in the following way: 75 | - "+" of R12DSM ----> 5V of Aocoda 76 | - "-" of R12DSM ----> GND of Aocoda 77 | - "S.B/PPM" of R12DSM ----> RX1 of Aocoda 78 |
79 | 81 |
82 | 83 | ##TODO 84 |
85 | 87 |
88 | -------------------------------------------------------------------------------- /2_3_Simulation_PX4_Gazebo.md: -------------------------------------------------------------------------------- 1 | # Run Px4-gazebo-ROS simulation 2 | Simulation is to test our methods to robots in a safe way and help debug before real-time experiments. 3 | 4 | 5 | Here, we use PX4-Gazebo to test auto flights. PX4 provides an *Offboard* mode for auto flights that allow onboard computers to take control of drones. 6 | 7 | ## 1. Auto flights with GPS 8 | This is to create a simulation case where **drone navigation information is from GPS and IMU**. 9 | 10 | ### 1.1 Step 1 Config PX4 to use GPS information and offboard mode 11 | First read prearm,arm and disarm specified by [PX4](https://docs.px4.io/master/en/advanced_config/prearm_arm_disarm.html). How can I comment on this: it is not better than shit. 12 | 13 | Arming and disarming decides what cases will stop drones. One of the cases is that should a drone be stopped, or disarmed, if it cannot receive RC signals for a certain amount of time. 14 | 15 | 1. allow arming drones without RC signal 16 | We allow drones armed in offboard modes by setting ```COM_RCL_EXCEPT=4``` like 17 |
18 | 20 |
Explanation of COM_RCL_EXCEPT
21 |
22 | Only setting this can we keep our drone armed when there is no RC input. 23 | 24 | 25 | 2. change timeout parameters 26 | Other parameters can be set to allow more time to take actions 27 | 28 | ```bash 29 | COM_OF_LOSS_T = 10 30 | COM_DISARM_LAND =10 31 | COM_DISARM_LAND = -1 means disable this 32 | ``` 33 | ### 1.2 Step 2 Choose drone controller library 34 | There are several libraries developed for PX4 drones. 35 | 36 | Here are some good reps: 37 | - Jaeyoung-Lim/mavros_controllers, https://github.com/Jaeyoung-Lim/mavros_controllers 38 | - uzh-rpg/rpg_quadrotor_control, https://github.com/uzh-rpg/rpg_quadrotor_control 39 | 40 | ### 1.3 Step 3 Prepare simulation 41 | 1. start by creating a px4-drone model in simulation in Gazebo 42 | ```shell 43 | roslaunch px4 posix_sitl.launch 44 | ``` 45 | 2. call mavros to enable communication between PX4 and PC throught ROS 46 | ```shell 47 | roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557" 48 | ``` 49 | 3. apply controller, for instance geometric_controller, to control drone fly 50 | ```shell 51 | roslaunch geometric_controller sitl_trajectory_track_circle.launch 52 | ``` 53 | Note: check if controllers to be run already call mavros or not. 54 | 55 | ## 2 Auto flights with Vicon 56 | This simulation case is to simulate **drone navigation information is from external vision system**, like Vicon and Qualisys. 57 | 58 | Let us take Vicon for example. 59 | 60 | 61 | ### 2.1 Step 1. Config PX4 to use Vicon information 62 | Therefore, we need to configure PX4 such that it takes navigation information from Vicon instead of GPS or IMU. Tutorials are given by PX4, i.e.[EKF2 Tuning/Configuration, Using Vision or Motion Capture Systems for Position Estimation](https://dev.px4.io/v1.11_noredirect/en/ros/external_position_estimation.html) 63 | 64 |
65 | 66 | 1. setting ```EKF2_AID_MASK = 3: vision position fusion + 4: vision yaw fusion```, we set position information is from Vicon. 67 | 68 |
69 | 70 | 2. setting ```EKF2_HGT_MODE = 3: Vision```, we set height information is also from Vicon 71 | 72 |
73 | 74 | ### 2.2 Step 2. Create a fake Vicon and feed Vicon information to Mavros 75 | If you dont want to read details, I have provided packages for you [drone_simulation_tools](https://github.com/EEEManchester/drone_simulation_tools). 76 | 77 | What you need to do is 78 | 1. clone the packages into ```catkin_src``` 79 | ```shell 80 | git clone git@github.com:EEEManchester/drone_simulation_tools.git 81 | ``` 82 | 2. build the packages 83 | ```shell 84 | catkin build 85 | ``` 86 | 3. run launch file 87 | ```shell 88 | roslaunch drone_simulation_tools drone_sim_vision_map_mavros.launch 89 | ``` 90 | Finally, two nodes apart from PX4 and Mavros will be running: 91 | + package ```fake_qualisys``` fakes a Vicon sytem taking drone pose information from Gazebo and publishes to topics in a Vicon way 92 | + package ```mocap_to_mavros_sim``` takes drone pose information from Vicon (through a topic) and publish to ```/mavros/vision_pose/pose``` **feeding Vicon information to drone**. -------------------------------------------------------------------------------- /2_4_Config_Ardupilot.md: -------------------------------------------------------------------------------- 1 | # Install and flash Ardupilot firmware 2 | ## 1 Check pre-builtin firmware 3 | Different pre-built firmware lead to different installation ways. 4 | 5 | It is suggested to ask the manufacturer about the pre-built firmware and its version. 6 | 7 | Our Kakute H7 v1.3 has a pre-built firmware of BetaFlight. Then the version can be found with the help of BetaFlight Configurator that can auto detect the pre-built board and firmware. 8 | 9 | Run BetaFlight Configurator, in Disconnected status, we click Firmware Flasher on the left sidebar, then it will auto detect the board and the firmware version 10 |
11 | 13 |
14 | 15 | Also, we can switch to Connected status by clicking connect on the top right. Click CLI on the left side bar, typing dump on the terminal on the right will give more information 16 |
17 | 19 |
20 | 21 | ## 2 Prepare Ardupilot firmware and flash it 22 | ### 2.1 Install driver and bootloader 23 | Tutorials are given by Ardupilot at [Loading Firmware onto boards without existing ArduPilot firmware¶](https://ardupilot.org/copter/docs/common-loading-firmware-onto-chibios-only-boards.html). Read this before going further. 24 | 25 | ### 2.2 Obtain Ardupilot firmware for KakuteH7 26 | #### Download Ardupilot firmware 27 | Since Kakuteh7's prebuilt firmware is not Ardupilot, installation files should include bootloaders. 28 | 29 | Following steps shown in [Loading Firmware onto boards without existing ArduPilot firmware](https://ardupilot.org/planner/docs/common-loading-firmware-onto-chibios-only-boards.html): 30 | 31 | 1. Go to webpage [https://firmware.ardupilot.org/Copter/stable-4.4.0/KakuteH7/](https://firmware.ardupilot.org/Copter/stable-4.4.0/KakuteH7/) 32 | 33 | 2. Download arducopter_with_bl.hex. 34 | 35 | Or, we can build an Ardupilot firmware ourself. 36 | #### Build Ardupilot firmware from source code 37 | 1. use Waf to build an Ardupilot firmware for the chosen board. Tutorials to use Waf https://github.com/ArduPilot/ardupilot/blob/master/BUILD.md. 38 | - clean previous built firmware 39 | ```shell 40 | cd ardupliot 41 | ./waf distclean 42 | ``` 43 | - The available list can be found by 44 | ```shell 45 | cd ardupliot 46 | ./waf list_boards 47 | ``` 48 |
49 | 50 |
51 | 52 | - video tutorial for next two steps https://youtu.be/lNSvAPZOM_o. 53 | - choose firmware - it is Pixhawk5X for us 54 | ```shell 55 | cd ardupliot 56 | ./waf configure --board Pixhawk5X 57 | ``` 58 |
59 | 60 |
61 | 62 | - build it 63 | ```shell 64 | cd ardupliot 65 | ./waf copter 66 | ``` 67 |
68 | 69 |
70 | 71 | - find the built ardupliot file at /ardupliot/build/board_name/bin, like 72 |
73 | 74 |
75 | 76 | ### 2.3 Write Firmware into FC 77 | There are two ways to write Ardupilot firmware into Kakuteh7: STM32CubeProgrammer or BetaFlight Configurator. 78 | 79 | **Connect FC in DFU mode** 80 | 81 | Kakute must be connected in DFU mode. To do that, press the button of Kakute, and then connect it to the work station through a USB port. 82 | 83 | Check if Kakute is in DFU mode, we type 84 | ```shell 85 | sudo dfu-util --list 86 | ``` 87 | if we can see something like Internal Flash, shown below, it means Kakute is in DFU mode. 88 |
89 | 91 |
92 | 93 | **Use STM32CubeProgrammer** 94 | 1. Download STM32CubeProgrammer software for Linux from [its official site](https://www.st.com/en/development-tools/stm32cubeprog.html?dl=r%2FDZ7hJ7r7LZnJS4M%2Bj%2FYg%3D%3D%2CrqQw3Z8zMJTVH%2FiHwZRxG3hJGQZEmlN4OzbGJFeuEufO47XaPWyM38drgWLJg%2F%2FukxP6agHPDG343C5L3VFsTTk12wTB%2FrA3oq9%2FGySQjLM3nRGLsi7eIQH9DlYY5OUSVtr25RNJsWoeocZdEfwKn9T7waqy41WKTicuSubVQdd1fd%2B0ydjzklycTlZd3z5c2CLMiyXRW6Dp3sndw6IxOB14m2l2wbA6%2FKQhfiyTPQe7NHIEkvcHbRwAyYBAJ22lSYc%2FzN8rHJSJh9EFm6ND6vltYTICAqp%2BihBh%2BHCVrrPfkE3nf9OUm%2BaBrMd9breQH71gc8%2B31MtN75QSPpBOAHqhdAD1VdxVDoGwk9GEUJVc8oE6F5dxFST1GI2xA6eC) 95 | 1. Install and run STM32CubeProgrammer 96 | 2. Choose USB as connection way and choose USB1, according to your station, as Port. Click flash button next port if nothing shows there. 97 | 98 |
99 | 101 |
102 | 103 | 3. Click Open file and choose downloaded arducopter_with_bl.hex. 104 | 4. Click button Download and it begins wiring Ardupilot into Kakuteh7. 105 |
106 | 107 |
108 | 109 | 5. Click button Disconnect and unplug the USB cable. 110 | 111 | **Use BetaFlight Configurator (To check)** 112 | 113 | 114 | ## 3 Configure Ardupilot 115 | Please read [Mandatory Hardware Configuration](https://ardupilot.org/copter/docs/configuring-hardware.html) first. 116 | 117 | ### 3.1 Choose Frame Class and Type Configuration 118 | Connecting the autopilot with a working station through a USB port. Run Mission Planner. 119 | 120 | Go to Setup-->Mandatory Hardware-->Frame Type. 121 | - Choose Quad in tap Frame Class (Quad stands for Quadrotor) 122 |
123 | 124 |
125 | - Since our chassis and ESC are for BetaFlight type, we need to go to Configuration->Full parameter list, and set FRAME_TYPE to be 12. 126 | 127 | All supported types are available [here](https://ardupilot.org/copter/docs/connect-escs-and-motors.html) 128 |
129 | 131 |
132 | 133 | ### 3.2 Configure receiver and transmitter 134 | 1. Bind receiver and transmitter 135 | Please see [Transmitter](2_6_Transmitter.md) searching for RadioLink AT9S Pro and RadioLink R12DSM. 136 | 137 | For the receiver's protocol, it is suggested to use SBUS. It can be done by pressed the button for 2s and we should see the LED flashes blue. 138 | 139 | 140 | 2. Configure Ardupilot to use transmitter 141 | Ardupilot will automatically detect Radio inputs. There is nothing to be configured. 142 | 143 | When calibrate the transmitter, it is important to set two switches: one to kill, i.e. stop motors, and the other is to change flight modes. They must be on different sides to be user friendly. 144 | 145 |
146 | 148 |
149 | 150 | 151 | ### 3.3 Configure motors and ESCs 152 | #### 3.3.1 motors order and direction 153 | Connect a battery to the drone and also connect the drone to the work station running Mission Planner through a USB port. 154 | 155 | 1. Test motor order 156 | This is to check if the motors are connected to the ESC board correctly, motor 1 is corrected to the ESC's pin for motor 1. 157 | 158 | We can see from [Connect ESCs and Motors](https://ardupilot.org/copter/docs/connect-escs-and-motors.html) that the motors' ordering and direction for BetaFlightX. 159 |
160 | 162 |
163 | 164 | 165 | Then, open Initial Setup->Optional Hardware->Motor Test. 166 |
167 | 168 |
169 | 170 | 171 | Control motors in sequence to see if the correct motors spin: 172 | - motor A - motor 2 in the front right, 173 | - motor B - motor 1 on the back right, 174 | - motor C - motor 3 on the back left, 175 | - motor D - motor 4 on the front left spin. 176 | 177 | It is essential to notice that ArduPilot keeps this tradition naming motor A, B, C, D in a different way than 1, 2, 3, 4 in Motor Test. 178 | 179 | If one motors responds in a wrong way, we need to check if it is connected to ESC at the correct pins. 180 | 181 | 2. Test motor direction 182 | 183 | Motors directions also must be checked tests. As we can see from the image above that 184 | - motor A, or motor 2, must spin in CCW, 185 | - motor B, or motor 1, must spin in CW, 186 | - motor C, or motor 3, must spin in CCW, 187 | - motor D, or motor 4, must spin in CW. 188 | 189 | Dont worry if they are not in the correct direction. There are two ways to to inverse the direction of a motor. 190 | 191 | ##### Change motor direction by switching two wires 192 | Image motor 3 is connected to the ESC with 3 wires. We find its direction needs to be inverted. 193 |
194 | 195 |
196 | 197 | We can inverse the direction by switching any two of the three wires. One example is shown below. 198 |
199 | 200 |
201 | 202 | ##### Change motor direction with BLHeLiSuite32 203 | 204 | Since our ESC is BLHeli32, we can use BLHeLiSuite32 to decide motors' direction. 205 | 206 | Config Ardupilot to enable using to change the motors' directions following the steps in [Pass-Through Support](https://ardupilot.org/copter/docs/common-blheli32-passthru.html). 207 | 208 | 209 | Adjust the motors' directions following the Youtube video [How To Update BLHeli 32 & Change Motor Directions](https://youtu.be/pjPI1xvcntw?si=SvltkIvUdiLomp0G). 210 | 211 | It is suggested to update BLHeli32 firmware first and then begin modify parameters. 212 |
213 | 214 |
215 | 216 | Steps: 217 | - Connect a battery to the drone and a USB cable to a computer. 218 | - We click connect and check buttons. Then, we can find the versions of BLHeili that are 32.8 as shown below 219 |
220 | 222 |
223 | - We update the BLHeili versions. Lets click Flash BLHeili and we can see that it is possible to update to 32.9. Click OK. 224 |
225 | 227 |
228 | - Wait for 4 ESCs to be updated 229 |
230 | 232 |
233 | - Click Disconnect button. Disconnect the battery and the USB cable. 234 | 235 | - Reconnect the battery and the USB cable. Click Connect and Check button to see if all ESCs are updated. 236 | 237 | - However spinning motors to check their directions does not work. More investigation is needed here. We need to go back to MissionPlanner to use Motor Tests to spin motors. 238 | 239 | - For instance, motor 1 needs to reverse its direction. We can modify Section Motor Direction from Normal to Reversed, then we click button Write Setup. 240 |
241 | 243 |
244 | - Click Disconnect button. Disconnect the battery and the USB cable. Reconnect the battery and the USB cable. Use MissionPlanner's Motor Test to check if their directions are correct now. 245 | 246 | After that, disconnect the battery. 247 | 248 | #### 3.3.2 ESCs protocols and calibration 249 | 1. we need to choose protocols for our ESC by setting parameter MOT_PWM_TYPE. More details can be found at [Electronic Speed Controller (ESC) Calibration](https://ardupilot.org/copter/docs/esc-calibration.html?highlight=mot_pwm_type). 250 | 251 | 2. As our ESCs supports multiple protocols, we can choose DShot600 as it suits most UAVs. How to choose protocols can be found at [DShot ESCs](https://ardupilot.org/copter/docs/common-dshot-escs.html?highlight=mot_pwm_type). 252 | 253 | 3. Therefore, we set MOT_PWM_TYPE as 6 that is for DShot600. 254 | 255 |
256 | 257 |
258 | 259 | 4. Whether ESCs need calibration depends on what protocols are. Check Section About ESC Calibration at [Electronic Speed Controller (ESC) Calibration](https://ardupilot.org/copter/docs/esc-calibration.html). 260 | 261 | Since our ESCs use DShot600, there is no need to calibrate them. We can skip this step. 262 | 263 | For others, there are several ways for ESC calibration at [Electronic Speed Controller (ESC) Calibration](https://ardupilot.org/copter/docs/esc-calibration.html?highlight=mot_pwm_type). But Semi Automatic ESC-by-ESC Calibration is suggested, as it easier and time-efficient. 264 | 265 | 266 | Source: 267 | - [Ardupilot wiki: BLHeli32 and BLHeli_S ESCs](https://ardupilot.org/copter/docs/common-blheli32-passthru.html) 268 | - [Ardupilot community: My Method for Iteratively Configuring Motor Ordering and Direction](https://discuss.ardupilot.org/t/my-method-for-iteratively-configuring-motor-ordering-and-direction/67644) 269 | - [Youtube: How To Update BLHeli 32 & Change Motor Directions](https://youtu.be/pjPI1xvcntw?si=3Kq7bqo38yqXqJUn) 270 | 271 | 272 | ### 3.4 Calibrate battery 273 | ##TODO 274 | 275 | ### 3.5 Calibrate sensors: accelerometer and gyroscope 276 | If you prefer using QGroundControl, you can read [Sensor Setup using QGroundControl for Ardupilot](https://docs.qgroundcontrol.com/master/en/SetupView/s.ensors_ardupilot.html). 277 | 278 | If you prefer Mission Planner, you can watch this video [ArduPilot FPV Drone Setup (MICRO FPV ARDUCOPTER!)](https://youtu.be/1dmB8oZFucA?si=_w-zzgJoHhbr73cZ). 279 | #### No compass 280 | Note that there is no compass for Kakute 281 | Note that Kakute does not have an internal compass. We can see from [Kakute' introduction at Holybro](https://holybro.com/products/kakute-h7) that 282 |
283 | 285 |
286 | 287 | IMU is MPU6000 and we can look for MPU6000 information from its datasheet at [MPU6000 at TDK](https://product.tdk.com/en/search/sensor/mortion-inertial/imu/info?part_no=MPU-6000). 288 |
289 | 291 |
292 | 293 | Therefore, we need to set ```COMPASS_ENABLE``` to be 0 which means the compass is disabled. 294 | 295 | #### Calibrate accelerometer 296 | Go to SETUP->Mandatory Hardware->Accelerometer Calibration 297 |
298 | 300 |
301 | 302 | Click button Calibrate Accel, then we place the drone into different pose: flat, left, right etc. We need to first place the drone to the requested pose, and click button Next. 303 | 304 | Then, it is also suggested to Calibrate Level. We put the drone on a flat surface, then click that button. 305 | 306 | #### Calibrate gyroscope 307 | However, it seems MissionPlanner does not offer a gyroscope calibration and it is no necessary? Double check is needed here. 308 | 309 | Now the solution is to run QGroundControl. Go to Vehicle Setup->Sensors->Gyroscope. 310 | 311 | Place the vehicle on a surface and leave it still and click OK to begin. 312 |
313 | 315 |
316 | 317 | ## 4 Arm drone now! 318 | Two things are to be done before arming the drone for the first time. 319 | 320 | First, insert a SD card to the Kakute to record logs. Then in Mission Planner, we need to set parameters such that flight logs are recorded during tasks. 321 | 322 | 323 | Second, check failure safe and kill switch: 324 | 1. check the flight mode is STABILIZE 325 | 2. turn off kill switch 326 | 3. place the left stick on right-down position for 5 seconds and we should see propellers spin. 327 | 328 | If arming failed, please check the following resources: 329 | 1. [PreArm: Logging not started , PreArm: Logging Failed , Bad Logging : copter 3.6.9](https://discuss.ardupilot.org/t/prearm-logging-not-started-prearm-logging-failed-bad-logging-copter-3-6-9/43753) 330 | 2. [Prearm: Logging Failed error](https://discuss.ardupilot.org/t/prearm-logging-failed-error/98750) 331 | 3. [Prearm logging failed and no logs with the version 4.0.3](https://discuss.ardupilot.org/t/prearm-logging-failed-and-no-logs-with-the-version-4-0-3/58475/8) 332 | 4. [Logging failed, preventing arming](https://discuss.ardupilot.org/t/logging-failed-preventing-arming/34060/6) 333 | 5. [“Compass not healthy” preventing arming even though compasses are disabled (using SLAM instead)](https://discuss.ardupilot.org/t/compass-not-healthy-preventing-arming-even-though-compasses-are-disabled-using-slam-instead/45011/2) 334 | 335 | 336 | ## 5 Tune gains for manual flight 337 | Read [Analytical Multicopter Flight Controller PID Optimization](https://discuss.ardupilot.org/t/analytical-multicopter-flight-controller-pid-optimization/109759) first. 338 | 339 | ### 5.1 Use initial tune parameters 340 | Guides can be found at [ArduCopter, Tuning](https://ardupilot.org/copter/docs/common-tuning.html). 341 | 342 | Parameters for motors, battery, and PID gains are needed to be tuned roughly before the first flight. Details can be found at [Setting the Aircraft Up for Tuning](https://ardupilot.org/copter/docs/setting-up-for-tuning.html#setting-up-for-tuning). 343 | 344 | To avoid complex tuning, MissionPlanner gives a tool to set parameters based on the drone. We ca find a tool at SETUP->Mandatory Hardware->Initial Parameter Setup, we can automatically obtain the needed parameters after inputting the size of propellers, the number of cells, and voltages of battery. 345 | 346 |
347 | 348 |
349 | 350 |
351 | 352 |
353 | 354 | If the quadrotor can takeoff, not perfectly, then we can continue tuning. 355 | 356 | 357 | ### 5.2 Interface and guides for tuning attitude and rate 358 | There is a cascade control in Ardupilot framework. During manual flights, usually STABILIZE mode, we input target attitudes to the attitude controller. It computes the target bodyrates, then the motor torques are computed and sent to motors. 359 | 360 | The schematic view is given as below. 361 |
362 | 363 |
364 | source = Copter Attitude Control, https://ardupilot.org/dev/docs/apmcopter-programming-attitude-control-2.html. 365 | 366 | For a cascade controller, we begin with the gains of inner loop. In other words, we first tune the PID gains for bodyrates, which are 367 | - ATC_RAT_PIT_P 368 | - ATC_RAT_PIT_I 369 | - ATC_RAT_PIT_D 370 | - ATC_RAT_RLL_P 371 | - ATC_RAT_RLL_I 372 | - ATC_RAT_RLL_D 373 | 374 | Then, we tune gains for attitude 375 | - ATC_ANG_PIT_P 376 | - ATC_ANG_RLL_P 377 | - ATC_ANG_YAW_P 378 | 379 | PID parameters are in Tab Extended Tuning 380 | 381 |
382 | 383 |
384 | 385 | CUAV provides an explanation of this interface in Chinese. 386 |
387 | 388 |
389 | 390 | source: [CUAV, 扩展调参（pid)](https://doc.cuav.net/tutorial/copter/extension-tuning.html) 391 | 392 | Use the parameters in the table given by TMac 393 |
394 | 395 |
396 | 397 | source: Arducopter Tuning (AUTOTUNE, PIDs & FILTERS, FLIGHT TESTS!), [https://youtu.be/AF6aA2z6rhw?si=U-aBvI92rl0DwJIR](https://youtu.be/AF6aA2z6rhw?si=U-aBvI92rl0DwJIR). 398 | 399 | 400 | ### 5.3 Analyse logs with to tune PID gains 401 | #### 5.3.1 Setup for recording Logs 402 | Logs are essential for us to monitor a drone's status and to tune gains and parameters. 403 | 404 | It is Dataflash, or we call log, that can record flight information. It can be saved on a SD card and downloaded using Mavlink. 405 | 406 | Read [Downloading and Analyzing Data Logs in Mission Planner](https://ardupilot.org/copter/docs/common-downloading-and-analyzing-data-logs-in-mission-planner.html) to undestand how to setup logs. 407 | 408 | Two important parameters are 409 | - *LOG_BACKEND_TYPE* that decides saving logs on a SD card or into board dataflash memory. 410 | - *LOG_BITMASK* chooses what flight data to be recorded, like IMU, GPS, etc. 411 | 412 | The [table 1](https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842/45?u=robind) and [table 2](https://discuss.ardupilot.org/t/how-to-methodically-tune-almost-any-multicopter-using-arducopter-4-4-x/110842/52?u=robind) of [Analytical Multicopter Flight Controller PID Optimization](https://discuss.ardupilot.org/t/analytical-multicopter-flight-controller-pid-optimization/109759) explain Log message and LOG_BITMASK value. 413 | #### 5.3.2 Log analysis 414 | We can use Mission planner to download a log and see *Downloading logs via MAVLink* of [Downloading and Analyzing Data Logs in Mission Planner](https://ardupilot.org/copter/docs/common-downloading-and-analyzing-data-logs-in-mission-planner.html). 415 | 416 | Flight data are saved in the form of messages in logs, please refer to [Onboard Message Log Messages](https://ardupilot.org/copter/docs/logmessages.html#logmessages) to find which message is for which data. For instance, message ACC records IMU accelerometer data. 417 | 418 | [UAV log viewer](https://plot.ardupilot.org/#/) is a tool for Ardupilot to analyse its logs, which allows us to find ref and actual values of attitude and bodyrates. 419 | 420 | In *Plot Individual Field*, we choose *ATT* to plot reference and actual values of roll, pitch and yaw angles. *RATE* allows us to checking bodyrate tracking. 421 | 422 | One example of checking roll tracking is given here. 423 |
424 | 425 |
426 | 427 | Fly drones and record their data into logs, then tune attitude and rate controllers based on logs. 428 | 429 | Here is one example of tuning just for 2 times 430 |
431 | 432 |
433 | 434 | 435 | ### 5.4 Advanced tuning (optional) -------------------------------------------------------------------------------- /2_5_Config_BetaFlight.md: -------------------------------------------------------------------------------- 1 | # Install and configure BetaFlight 2 | ## 1 Install and flash BetaFlight firmware 3 |
4 | 6 |
7 | 8 | [BetaFlight](https://betaflight.com/) is flight controller firmware for flying multi-rotor craft and fixed wing craft. Because of its cutting edge performances, BetaFlight is one of the largest flight firmwares in the FPV drone racing and freestyle community. 9 | ## 2.1 Install BetaFlight Configurator 10 | BetaFlight Configurator is a tool for us to flash and calibrate firmwares. 11 | 12 | Setup Guide shows steps to install BetaFlight Configurator. 13 | 14 | 1. Download deb for Ubuntu 20.04. 15 |
16 | 17 |
18 | 19 | 2. Install deb pkg by running 20 | ```shell 21 | sudo dpkg -i betaflight-configurator_10.9.0_amd64.deb 22 | ``` 23 | 3. Run BetaFlight Configurator and see the following interface 24 |
25 | 26 |
27 | 28 | 29 | ## 2.2 build BetaFlight for Aocoda H743 30 | #### 2.2.1 Build Betaflight firmware from source 31 | Steps to build firmware H743 for example 32 | 1. install official firmware, i.e. .hex 33 | 2. save the result of ```diff all``` into config.txt 34 | 3. use make to build firmware .hex 35 | ```shell 36 | cd Betaflight 37 | make TARGET=STM32H743 38 | ``` 39 | 4. check output message from make 40 | ```shell 41 | text data bss dec hex filename 42 | 466697 6364 90236 563297 89861 ./obj/main/betaflight_STM32H743.elf 43 | ``` 44 | 5. get the built firmware 45 | it is located at *BetaFlight/obj/XXX.hex*. 46 | 47 | ## 2.3A flash BetaFlight to Aocoda H743 48 | 1. connect autopilot board to a work station through a USB port. It is supposed to see the LED flashing after connection. 49 | 50 | 2. run BetaFlight Configurator 51 | 52 | 3. write customized firmware 53 | - **enable DFU mode of the autopilot board** 54 | - enable "no reboot sequence" 55 | - enable "Full clip erase" if your previous installation failed and you cannot connect your autopilot 56 | - click "Load Firmware" and choose the obtained firmware XXX.hex. 57 | - click "Flash Firmware" and the process is done when 'programming:successful' can is shown. 58 |
59 | 60 |
61 | 62 | 5. load pre-built config 63 | - wait for 20s for the autopilot board to refresh, and disconnect and reconnect the USB cable if it does not response. 64 | - click button connect on the top right 65 | - choose ''Apply custom defaults'' 66 | - click CLI tap 67 | - load file and choose preconfig.txt, i.e. the txt file in the 3rd step or Aoco_H7_Config_Manufacturer.txt in /firmware/Aocoda. Do not worry if you see some errors in the terminal. 68 |
69 | 70 |
71 | 72 | - type save in the terminal and it will automatically reboot. Then after connecting again, we should be able to see a 3D quadrotor model. This 3D model will show the same attitude of the autopilot when we rotate it, which means the firmware can obtain sensor information through ports on Aoco. 73 |
74 | 75 |
76 | 77 | ## 2.3B flash BetaFlight to KakuteH7Mini 78 | 1. Enable DFU mode of KakuteH7Mini and connect it to a base station with Betaflight Configurater running. 79 | 2. Download and flash official firmware by choosing KakuteH7Mini as the target board with 80 | - "no reboot sequence" enabled 81 | - "full chip erase" enabled 82 |
83 | 84 |
85 | Then, click Flash Firmware. 86 | 2. Find the built firmware *BetaFlight/obj/XXX.hex*, chick local firmware and choose it. 87 | 3. Flash own firmware with 88 | - "no reboot sequence" enabled 89 |
90 | 91 |
92 | 4. Reboot and choose ''Apply custom defaults'' 93 | 94 | ## 3 Configure and calibrate BetaFlight 95 | **REMOVE propellers before doing anything else** 96 | 97 | ### 3.1 Configure transmitter and receiver 98 | 99 | #### 3.1.1 Bind receiver and transmitter 100 | Please see [Transmitter](2_6_Transmitter.md) searching for RadioLink AT9S Pro and RadioLink R12DSM 101 | 102 | #### 3.1.2 Configure receiver using BetaFlight Configurator 103 | 1. Define ports as Serial (via UART) 104 | 2. Choose protocol 105 | - SBUS and switch the RadioLink R12DSM into S-BUS model when the LED flashes blue. 106 | - PPM not tested 107 | 3. Enable Telemetry port. 108 |
109 | 110 |
111 | 112 | 4. It is suggested to use our transmitter test thrust, roll, pitch, yaw controls by seeing the 3D model's animation. You can modify the sequence of AETR1234 in Channel Map according to your needs. AETR1234 means 113 | 114 |
115 | 117 |
118 | 5. Adjust sticks' sensitivities with the buttons in green circles such that central positions of sticks should correspond to around 1507. **Note** use the buttons in green circles to make the range of each channel to be 1505-2000, especially for the thrust channel as Betaflight does not allow arming if the thrust channel is above 1050 by default. 119 | 120 | ### 3.2 Configure motors 121 | NOTE: REMOVE propellers if you did not do that. 122 | 123 | 1. Check frame type and motor order. 124 | 125 | Choose QUAD X as our chassis is TransTEC Lightning X Lite. Other chassis may lead to different choices here. 126 | 127 | The ESC board has marks, i.e. 1,2,3,4, help place motors in order. It is suggested to choose the same layout as shown here. Please remember the direction of the quadrotor on the autopilot is illustrated by an arrow in white. 128 |
129 | 130 |
131 | 132 | 2. Test motors' spinning 133 | 134 | Now, it is time to test if we can spin motors. To do that, the first thing is to connect a battery to the ESC board while keeping the connect between the work station and the autopilot board. 135 | 136 | Then, it is necessary to set the ESC/Motor Output dropdown to the correct protocol. Usually DShot300 or DShot600 should be chosen for most ESCs available nowadays. Here is the explanation given by BetaFlight Configurator; 137 | - DShot300 is better for FCs with slower processors, like F411 boards. DShot600 is better for faster processors, like anything from the F7 family. F405 may work too, but it can cause too high of a CPI load when a lot of peripherals are in use 138 | - The DShot speed also depends on the gyro (and thus also the PID loop) speed. If you have a gyro that runs at 8kHz (MPU6000), you can use DShot600. If you have a gyro that runs at 3.2KHz (BMI270), you should use DShot300. Using higher DShot speeds on slower gyros shoudn't cause any issues, but it also won't give you any benefits. 139 | 140 | On the right side, we click "I understand the risk", then we can test motors' spinning individually by using sidebars with 1,2,3,4 or together using Master. if The motors, ESC, and the autopilot board are connected correctly, we should be able to see motors are spinning according to our commands. 141 | 142 | 3. Change motors' spinning direction. 143 | 144 | After successfully spinning motors, we need to check the motors' direction if they are in the correct way that is shown on the left. 145 | 146 | As we can see, motor 1 and 4 are in clockwise direction, while motor 2 and 3 are in counterclockwise direction. If one or two motors are not spinning in the correct way, then we can click button Motor direction and change the direction of them. 147 |
148 | 150 |
151 | 152 | Choose motor by index first, and then if the direction is wrong, we just need to click "Reverse". 153 | 154 | ### 3.3 Configure flight modes 155 | 156 | There are several modes: 157 | - Arm mode. It used as a kill switch as it can enable and disable motor output. 158 | - Angle mode. The input to the autopilot board is angle, that is usually chosen for manual flights. 159 | - Angle_rate_hold. This mode can receive angle commands and bodyrate commands, which is used for auto flights. 160 | 161 | 1. Set Arm mode. 162 | - Click Add Range 163 | - Choose Auto and switch SwF of transmitter on and off, then it will automatically set the channel of SwF, maybe AUX 1, for mode Arm. 164 | - There is a yellow bar for every mode. In fact, the area covered by that corresponds to the transmitter' channel's status. 165 | 166 | Take Arm for instance, when the channel is in the yellow bar's area, the drone is armed, while the channel is outside, the drone is disarmed. 167 |
168 | 169 |
170 | 171 | 2. Set Angle mode and Angle_rate_hold mode 172 | Make them use the same channel of SwG, then adjust the yew bar for two stages where one stage of SwG corresponds to mode Angle, and the other lies in mode Angle_rate_hold. 173 |
174 | 175 |
176 | 177 | Read the following resources: 178 | 1. Modes Tab from BetaFlight, [https://betaflight.com/docs/wiki/configurator/modes-tab](https://betaflight.com/docs/wiki/configurator/modes-tab) 179 | 2. Betaflight 4.3 Modes Tab, [https://youtu.be/kDAotpevszs?si=QKJp7 5aN2eq35jE8](https://youtu.be/kDAotpevszs?si=QKJp75aN2eq35jE8) 180 | 181 | Other modes can be found at [Modes](https://betaflight.com/docs/development/Modes): 182 | 1. If we link two modes, then enabling one will trigger the other. 183 | 2. ACRO mode takes commands as body rates from pilots. This mode is usually used in FPV. In fact, you cannot find this mode and it is a default mode: the drone switches to ACRO mode if we arm the drone while no mode, like Angle mode, is chosen. 184 | 185 | 186 | 187 | ### 3.4 Configure power & battery 188 | 1. check if BetaFlight Configurator find the correct number of cells. 189 | 190 | 191 | 2. Choose battery source 192 | Two options are available here 193 | - Onboard ADC means the voltage and current are measured by the autopilot's ADC. 194 | - ESC means they are measured by ESC telemetry. To use ESC telemetry for voltage measurement, the ESC board needs have a pin named after telemetry that is connected to the autopilot. A pin named after current is needed for current measurement. 195 | 196 | We choose Onboard ADC when batteries of 2s-6s are used, then ESC is a better choice when batteries of more than 6s are chosen. 197 | 198 |
199 | 200 |
201 | 202 | 203 | 3. Amperage Meter (Current) 204 | - This depends on ESC instead of autopilots. 205 | - The parameter Scale in Amperage Meter should be given by manufacturer. As for our Aocoda 3060A 4 in 1 [site in Taobao](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xw5sv5&id=682898024012), the scale is set to be 160. It is 120 for KakuteH7Mini [site at Holybro](https://holybro.com/products/kakute-h7-mini-stacks). 206 |
207 | 208 |
209 | 210 | 4. Voltage Meter (Voltage) 211 | Here is what we should do first 212 | - connect a battery to the drone 213 | - connect a voltage meter to the battery to read the voltage 214 |
215 | 217 |
218 | 219 | 220 | Click the button Calibration, entre the voltage value read from the meter anc lick button Calibrate. 221 |
222 | 223 |
224 | 225 | After hearing the music, we can click the button Save. 226 | 227 | 228 | 229 | ### 3.4 Calibrate sensors 230 | 231 | Aocoda has embedded an accelerometer and a gyroscope. 232 | 233 | First let us calibrate the accelerometer. Place the drone on the flat surface, and then click the button Calibrate Accelerometer. 234 | 235 | It finishes when the message "Accelerometer calibration finished" is displayed on the top left. Note do not move the drone during the calibration. 236 | 237 |
238 | 239 |
240 | 241 | ### 3.5 First flights and PID tuning 242 | ##TODO -------------------------------------------------------------------------------- /2_6_Transmitter.md: -------------------------------------------------------------------------------- 1 | # Big picture of transmitter, receiver and autopilot 2 |
3 | 5 |
6 | source: https://oscarliang.com/rc-protocols/#RX-Protocols 7 | 8 | ## 1 Configure transmitter 9 | 1. create new model such that one model for one receiver 10 | - press mode to entre basicConfig menu 11 | - choose Model Sel 12 | - select a new model for this receiver. It means that if this transmitter already uses model 1 and 2 for another 2 receivers, then we should select other models, like 3. But remember which model is for which receiver. 13 | - go back to basic menu by pressing End and entre Model Type. choosing multirotor or your type of UAV in option TYPE. 14 | 15 | 3. set transmitter channel 16 | - get 12 channels: 17 | - press mode to entre basic menu 18 | - entre System and change "CH-Select" to be "12CH" such that it provide 12 channels for this transmitter 19 | - change channel mapping 20 | - our aims is to use SwF (2-stage, on the left) for kill switch, Swg (3-stages, on the right)for switching flight modes 21 | - channels 1,2,3,4 are by default for thrust, yaw, roll and pitch, so we set SwF as channel 6 and SwG as channel 7. 22 | - press mode to entre basic menu 23 | - choose AUX-CH, and set SwF for CH6 and SwG for CH7. 24 | 25 | 4. modify/reverse transmitter channel 26 | - problem: it could be possible that channel mapping is in the opposite way: when we push roll stick, the drone flip backward, while is it supposed to flip forward. 27 | - solution: 28 | - press mode to entre basic menu 29 | - entre Reverse, go the wrong channel and then switch to REV if it is NOR, or switch to NOR or it is REV. 30 | 31 | ## 2 Configure receiver 32 | One receiver can possibly support different protocols. For instance, RadioLink R12DSM can support both SBUS and PPM. 33 | 34 | Therefore, it is significant to check which can be supported by the chosen autopilot and adjust the receiver to work using that protocol. 35 | 36 | ## 3 Bind transmitter and receiver 37 | - Binding RadioLink AT9S Pro and RadioLink R12DSM is shown at [RadioLink at Youtube: How to| Make RadioLink receiver R12DSM bind with transmitters](https://www.youtube.com/watch?v=KpSXgxUHlPw&ab_channel=RadioLink). -------------------------------------------------------------------------------- /2_Simulation_ROS_Ardupilot/Ardupilot_Gazebo_Garden_Mavros.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_ROS_Ardupilot/Ardupilot_Gazebo_Garden_Mavros.png -------------------------------------------------------------------------------- /2_Simulation_ROS_Ardupilot/gz_installed_test.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_ROS_Ardupilot/gz_installed_test.png -------------------------------------------------------------------------------- /2_Simulation_Setup_ROS_PX4/Installed_mavros.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_Setup_ROS_PX4/Installed_mavros.png -------------------------------------------------------------------------------- /2_Simulation_Setup_ROS_PX4/gazebo_errors.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_Setup_ROS_PX4/gazebo_errors.png -------------------------------------------------------------------------------- /2_Simulation_Setup_ROS_PX4/px4_gazebo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_Setup_ROS_PX4/px4_gazebo.png -------------------------------------------------------------------------------- /2_Simulation_Setup_ROS_PX4/px4_ros.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_Setup_ROS_PX4/px4_ros.png -------------------------------------------------------------------------------- /2_Simulation_Setup_ROS_PX4/px4_version.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/2_Simulation_Setup_ROS_PX4/px4_version.png -------------------------------------------------------------------------------- /3_Simulation_Gazebo_Control/COM_RCL_EXCEPT.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/3_Simulation_Gazebo_Control/COM_RCL_EXCEPT.png -------------------------------------------------------------------------------- /3_Simulation_Gazebo_Control/Setting_4_Vicon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/3_Simulation_Gazebo_Control/Setting_4_Vicon.png -------------------------------------------------------------------------------- /3_Simulation_Gazebo_Control/Setting_4_Vicon_height.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/3_Simulation_Gazebo_Control/Setting_4_Vicon_height.png -------------------------------------------------------------------------------- /3_Simulation_Gazebo_Control/Setting_4_Vicon_position.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/3_Simulation_Gazebo_Control/Setting_4_Vicon_position.png -------------------------------------------------------------------------------- /4_Experiment_Communication_Pi_Pixhawk.md: -------------------------------------------------------------------------------- 1 | # Communication between Raspberry Pi 4B+ and Pixhawk 5. 2 | 3 | There are two ways for communication between a Pixhawk 5 and a Raspberry pi 4B+: 4 | - through serial ports 5 | - through USB ports 6 | 7 | There are also different methods to power Raspberry Pi: 8 | - through battery and BEC 9 | - through autopilot (not tested) 10 | 11 | ## 1 Communication through serial ports of Raspberry Pi 12 | ### 1.1 Connect Raspberry Pi and Pixhawk 5 13 | Let us have a look at all the ports provided by Pixhawk 5. 14 |
15 | drawing 17 |
Pixhawk ports
18 |
19 | Therefore, we will use Telem 2 as the port for Raspberry Pi. 20 | 21 | The details of Telem 2 is shown by the figure below 22 |
23 | drawing 25 |
Pins of Tele 2 port
26 |
27 | 28 | Pins in red and black can be indentified by using cables with Pixhawk. Here is an example. 29 |
30 | drawing 32 |
Pixhawk ports
33 |
34 | 35 |
36 | drawing 38 |
Pixhawk ports
39 |
40 | 41 | We need to make a wire to connect them like the way below 42 |
43 | drawing 45 |
Pixhawk 5x - Raspberry Pi
46 |
47 | 48 | ### 1.2 Set parameters on PX4 49 | Some parameters are needed to be modified to enable serial communication between Pixhawk and Raspberry Pi. 50 | 51 | Here are the list 52 | - MAV_2_CONFIG = TELEM 2 53 | - MAV_2_MODE = Onboard 54 | - MAV_2_RATE= 80000 Bytes/s 55 | - MAV_2_FORWARD = True 56 | - SER_TEL2_BAUD = 921600 baud 57 | 58 | 59 | ## 2 Communication through USB ports of Raspberry Pi 60 | 61 | 62 |
63 | 64 |
https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#power-supply
65 |
-------------------------------------------------------------------------------- /4_Experiment_OnboardComputer_Pi.md: -------------------------------------------------------------------------------- 1 | # Set Raspberry Pi 4B as an onboard computer 2 | Big picture of a drone with a Pixhawk 5 and a Raspberry Pi 4b. 3 | 4 |
5 | Albuquerque, New Mexico 8 |
9 |
10 | 11 | 12 | ## 1. Brief introduction of onboard computer (Raspberry Pi 4B) 13 | Onboard computer is responsible for transfer commands from base station to autoploit and convert sensor information from autoploit, cameras etc. back to Onboard computers. 14 | 15 | Choices for onboard computers are Raspberry Pi, Odroid, Tegra K1 etc. Here we show how to buid a drone using Raspberry Pi, i.e. Raspberry Pi 4B. 16 |
17 | Albuquerque, New Mexico 20 |
Raspberry Pi 4B
21 |
22 | 23 | Raspberry Pi requires an operating system (OS). However, The supported OSs by Raspberry Pi depend on versions. Raspberry Pi 4B can only support Ubuntu desktop 21.04 (Not LTS), Raspberry Pi OS, Ubuntu server 20.04 (LTS), Ubuntu Core 20, which can be found at (see [Ubuntu for Raspberry Pi](https://ubuntu.com/download/raspberry-pi)). 24 | 25 | ## 2. Tools for installing operating systems on Raspberry Pi 4B 26 | **Note:** An image is provided for team members that is Ubuntu Mate for Raspberry Pi 20.04 with ROS and mavors. 27 | Raspberry Pi Imager is official tool to install OS for raspberry pi boards. It can be downloaded from [https://www.raspberrypi.com/software/](https://www.raspberrypi.com/software/). 28 | 29 | A Youtube video is available [here](https://youtu.be/y45hsd2AOpw). 30 | 31 |
32 | 34 |
Raspberry Pi Imager
35 |
36 | 37 | Here are several potions for OS to be used on Raspberry Pi 4b: 38 | - Ubuntu Desktop/Server 20.04 39 | - **(recommended)** Ubuntu Mate 20.04 for Raspberry Pi 40 | - Raspberry Pi OS 41 | 42 | ## 3. Install Ubuntu Server 20.04 43 | A server is lighter than a Desktop as it does not contain packages for GUI and Office. Thus, choosing server is also a good choice for an onboard computer. 44 | 45 | 1. Choose Ubuntu Server 20.04 LTS using Raspberry Pi Imager. 46 | 2. Insert the SD carder in Raspberry Pi and start it with a mouse, keyboard and a monitor connected. 47 | 3. Log in Ubuntu server with 48 | - username ubuntu 49 | - password ubuntu 50 | 4. Connect Raspberry Pi to Wifi using netplan explained [here](https://itsfoss.com/connect-wifi-terminal-ubuntu/) 51 | - check Internet class ```ls /sys/class/net``` 52 | - find and edit config file ```sudo nano /etc/netplan/50-cloud-init.yaml``` 53 | - put available wifi infor as 54 | ``` 55 | wifis: 56 | wlan0: 57 | dhcp4: true 58 | optional: true 59 | access-points: 60 | "WIFI_ID": 61 | password: "WiFi_password" 62 | ``` 63 | - apply this config ```sudo netplan generate``` 64 | - connect to Wifi ```sudo netplan apply``` 65 | 5. **reboot** 66 | 6. Install Mate Desktop environment 67 | - ```sudo apt install taskel``` 68 | - ```sudo apt install ubuntu-mate-desktop``` 69 | - choose gmd3 or lightdm (recommended) 70 | 71 | ## 4. Install Ubuntu Mate (for Raspberry Pi) 20.04 from Ubuntu Server 20.04 72 | Repeat Steps 1-5 above in Step 2A. 73 | 74 | 6. Use Desktopify to convert Ubuntu server 20.04 to Ubuntu Mate 20.04. A video tutorial is available [Install Ubuntu Mate On the Raspberry Pi 4 with Desktopify The Fastest Desktop Experience For The Pi4](https://youtu.be/zo5eReiXYuo). 75 | - ```cd ~``` 76 | ```git clone https://github.com/wimpysworld/desktopify.git``` 77 | - ```cd desktopify``` 78 | ```sudo ./desktopify --de ubuntu-mate``` 79 | Take the sd card and put it into the sd slot. 80 | 81 | Connect the Raspberry Pi with a monitor through a HDMI cable, a mouse through a USB port, a keyboard through a USB port. Then, use the power supply module provided by the manufacturer. 82 | 83 | Now, we should see a Ubuntu Mate start in the monitor. Here is what we need to do for configure basics of the OS. 84 | 85 | 1. Boot your Ubuntu MATE 86 | - set language and user names 87 | - user name: droneREEG 88 | - passwork: 123456 89 | - computer name: drone1 (drone2 for a second drone) 90 | - this can also be done by specifying options of Raspberry Pi Imager before installing 91 | 2. Disable auto update in *Software&Updates > Updates* 92 | - stop ubuntu kernel update 93 | ``` 94 | sudo apt-mark hold linux-generic linux-image-generic linux-headers-generic 95 | ``` 96 | 97 | ## 5 Install Raspberry Pi OS (not fully tested) 98 | Raspberry Pi OS is an official operating system supported by Raspberry Pi. 99 | 100 | After understanding how to use Raspberry Pi Imager, a choice is going to be made for choosing a version of Raspberry Pi OS, yes, another choice of versions :( . In fact, Raspberry Pi OS is built using a Linux kernel of Debian, therefore we can find Debian version information of each Raspberry Pi OS. Raspberry Pi OS uses Debian 11 (Bullseye), while Raspberry Pi OS (Legacy) takes Debian 10 (Buster). 101 |
102 | 104 |
Raspberry Pi OS with Debian 11 (Bullseye)
105 |
106 |
107 | 109 |
Raspberry Pi OS (Legacy) with Debian 10 (Buster)
110 |
111 | 112 | 113 | Wait a minute. Think about the most important tools are to be used on onboard computers; that is ROS. Choosing Raspberry Pi OS (Debian 11) or Raspberry Pi OS (Legacy) (Debian 10) depends on which one allows us to use a proper ROS. 114 | 115 | Till April 2022, there two ROS options to choose: ROS Melodic and ROS Noetic. Noetic is developed for Debian 10 (Buster) and Melodic is for Debian 9 (Stretch). So, Debian 11 (Bullseye) is not supported yet for ROS 1 or never. The only choice is Debian 10 (Buster), then we must install Raspberry Pi OS (Legacy). 116 | 117 | Flashing Raspberry Pi OS (Legacy) into a SD card and use that to boot Raspberry Pi. 118 | 119 | 120 | ## 6 Install Ubuntu Core for Raspberry Pi 121 | ### 6.1 Introduction of Ubuntu Core 122 | In one word, **Ubuntu Core** is the optimised version of Ubuntu for robotics and ROS. **Snaps**, the de facto container for packaging software on Ubuntu, enhanced to support ROS applications. 123 | 124 | [Ubuntu official site](https://ubuntu.com/core/docs) states that 125 | - Ubuntu Core is a version of the Ubuntu operating system designed and engineered for **Internt of Things (IoT)** and embedded systems. 126 | - Ubuntu Core is ideal for embedded devices because it manages itself. Whether it’s running on an **Intel NUC** hidden for media streaming, or a **Raspberry Pi** handling garage door automation, Ubuntu Core remains transparent, trustworthy and autonomous. 127 | 128 | More information about how Ubuntu supports robotics can be found at 129 | - [Robotics document](https://ubuntu.com/robotics/docs) 130 | - [Robotics explanation](https://ubuntu.com/robotics/docs/explanation) 131 | 132 | ### 6.2 Tutorial for using ROS on Ubuntu Core 133 | https://ubuntu.com/core/docs/uc20/install-raspberry-pi#heading--requirements 134 | 135 | 136 | Ref: 137 | - [How to get started with Ubuntu Core on Raspberry Pi](https://www.youtube.com/watch?v=aekZhezFCHM&t=681s&ab_channel=CanonicalUbuntu) 138 | - [Your first robot, part 1: A beginner's guide to ROS and Ubuntu Core](https://www.youtube.com/watch?v=KidVVqbsIHI&ab_channel=KyleFazzari) 139 | - [Ubuntu Core](https://www.youtube.com/watch?v=6NDWqH1SrGs&list=PLwFSk464RMxk54Xdcb90rgfoyRlKUOjLM&ab_channel=CanonicalUbuntu) 140 | ##TODO 141 | Ubuntu ESM for ros [ROS Expanded Security Maintenance](https://ubuntu.com/robotics/ros-esm) 142 | 143 | 144 | 145 | -------------------------------------------------------------------------------- /4_Experiment_OnboardComputer_Setup/Drone_components.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/4_Experiment_OnboardComputer_Setup/Drone_components.png -------------------------------------------------------------------------------- /4_Experiment_OnboardComputer_Setup/GPIO_Raspberry.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/4_Experiment_OnboardComputer_Setup/GPIO_Raspberry.png -------------------------------------------------------------------------------- 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A tutorial to install Melodic on Raspberry Pi OS is given [here](https://www.linkedin.com/pulse/easiest-way-install-ros-melodic-raspberrypi-4-shubham-nandi/). 12 | ### 1.2 Install mavros 13 | - for team members, please skip this step 14 | - for others, please ref to Section Simulation_ROS. 15 | 16 | 17 | ## 2 Enable WIFI communication between onboard computer and base station 18 | 19 | ### 2.1 Set static IP address for onboard computer and base station 20 | Connect to WIFI and open Internet settings. 21 | 22 | Find Tap IPv4, then choose Manual instead of DHCP. 23 | 24 | Then, input an address like 192.168.31.191 where the router's address is 192.168.31.1. Note here, the first three parts must be the same with your router's. Netmask usually should be ```255.255.255.0```. More details can be found at [Subnets of Linux Journey](https://linuxjourney.com/lesson/subnets). 25 |
26 | 27 |
28 | 29 | 30 | ### 2.2 Set ssh for remote login 31 | Install ssh on both machines 32 | ```shell 33 | sudo apt install openssh-client openssh-server 34 | ``` 35 | and we ca check the installation by 36 |
37 | 38 |
39 | 40 | 41 | On base station, we can connect to Raspberry Pi with 42 | ```shell 43 | ssh username@servername 44 | ``` 45 | where servername can be IP address like 192.168.31.171 and site address like example.com 46 | 47 | Lets say our username is drone1 and its pws is 123456. 48 | 49 | From base station to connect. 50 | 1. We start ssh request 51 | ```shell 52 | ssh drone1@192.168.31.171 53 | ``` 54 | and entre yes then 55 |
56 | drawing 58 |
59 | 60 | 2. We entre the pwd of the user of sever, i.e. drone1, which should be 123456. 61 |
62 | drawing 64 |
65 | 66 | 3. We are now in the server as the user drone1, as you can see a new user name and a new machine name in the terminal. 67 | 68 | 4. It is not surprised that we dont want to type ip address every time. Since we know the ip address of the Raspberry Pi wont change, it is nature to think can we type something meaningful as long as my machine can understand my input and link that to the correct ip address. 69 | 70 | Here, we can modify /etc/hosts to enable our machine to do that. 71 | 72 | We give a name for our Raspberry Pi as dronepi1, as 73 |
74 | 75 |
76 | 77 | 5. Now, we can connect to the Raspberry Pi with drone1@dronepi1 78 |
79 | 80 |
81 | 82 | References on ssh: 83 | 1. [How to use SSH (to connect to another computer), Youtube](https://www.youtube.com/watch?v=3bQRaOPns9k&ab_channel=SyntheticEverything) 84 | 85 | 2. [Running ROS across multiple machines](http://wiki.ros.org/ROS/Tutorials/MultipleMachines) 86 | 87 | 3. [How to enable SSH on Linux Ubuntu (Easy step by step guide), Youtube](https://www.youtube.com/watch?v=Wlmne44M6fQ&ab_channel=KnowledgeSharingTech) 88 | 89 | 4. [SSH in Chinese](https://wangdoc.com/ssh/client) 90 | 91 | ## 3 Set ROS communication through WIFI between onboard computer and base station 92 | 93 | ### 3.1 time synchronisation with ntp 94 | We are going to use ntp service for time synchronisation such that time of onboard computer is based on that of base station. 95 | 96 | First of all, install ntp by running 97 | ```bash 98 | sudo apt install ntp 99 | ``` 100 | Check if ntp service is on or not 101 | ```bash 102 | service --status-all 103 | ``` 104 |
105 | drawing 107 |
Ntp service is on
108 |
109 | and check its status 110 | 111 | ```bash 112 | sudo systemctl status ntp.service 113 | ``` 114 |
115 | drawing 117 | 118 | Check all the servers 119 | ```bash 120 | ntpq -p 121 | ``` 122 | ### 3.2 time synchronisation with chrony (todo) 123 | 124 | ### 3.2 ROS communication between Raspberry Pi and base station 125 | Once we can ensure Internet connection between the onboard computer and our base station, we can process ROS communication between them. 126 | 127 | We only need to specify the IP addresses of onboard computer and base station into ROS. 128 | 129 | 1. for the onboard computer, open ```.bashrc``` and add 130 | ```bash 131 | export ROS_MASTER_URI=http://IP_base_station:11311 132 | export ROS_IP=IP_onboard_computer 133 | ``` 134 | 135 | 2. for the base station, open ```.bashrc``` and add 136 | ```bash 137 | #export ROS_MASTER_URI=http://master:11311 138 | 139 | export ROS_MASTER_URI=http://IP_base_station:11311 140 | export ROS_IP=IP_base_station 141 | ``` 142 | Note: this configuration only works for THE WLAN. We may need to modify the IP addresses for different WLANs. 143 | 144 | Also, we need to comment the two commands below and uncomment the one above in order to do local simulation and experiments. 145 | 146 | More details can be found at [Running ROS on multiple machines](https://husarion.com/tutorials/ros-tutorials/5-running-ros-on-multiple-machines/). -------------------------------------------------------------------------------- /5_Experiment_Hardware_Setup.md: -------------------------------------------------------------------------------- 1 | # Hardware setup 2 | ## Big picture of Pixhawks_Rapebrrypi 3 |
4 | 6 |
PX4 system and Companion Computer (https://docs.px4.io/master/en/concept/px4_systems_architecture.html)
7 |
8 | 9 | ## Power Raspberry Pi 10 | ### Power requirements of Raspberry Pi 4 11 | Power supply for Rasberry Pi can be found [Power Supply](https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#power-supply). 12 |
13 | 15 |
PX4 system and Companion Computer (https://www.raspberrypi.com/products/raspberry-pi-4-model-b/specifications/)
16 |
17 | 18 |
19 | 21 |
USB ports of Raspberry Pi (https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#universal-serial-bus-usb)
22 |
23 | 24 | https://www.raspberrypi.com/documentation/computers/os.html#gpio-and-the-40-pin-header 25 | 26 | https://pinout.xyz/pinout/5v_power# 27 | 28 | PX4 is configured by default to connect to a companion computer connected to the TELEM 2 serial port. No additional PX4-side configuration should be required if you use this port 29 | 30 | ### Solutions to power Raspberry Pi 4 31 | 32 | 33 | 34 | ### Setup Wifi rooter in F46 35 | 36 | username and password are admin. 37 | -------------------------------------------------------------------------------- /5_Experiment_Hardware_Setup/raspberry_bard.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/5_Experiment_Hardware_Setup/raspberry_bard.png -------------------------------------------------------------------------------- /5_Experiment_Hardware_Setup/raspberry_usb.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/5_Experiment_Hardware_Setup/raspberry_usb.png 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-------------------------------------------------------------------------------- 1 | # Use Vicon for drone indoors flight 2 | 3 | Here is where you are going to fly drones with Vicon at the University of Manchester. 4 |
5 | 6 |
7 | 8 | Indoor flights with a drone and a Vicon system is illusrated by the figure below. 9 |
10 | 11 |
12 | 13 | Several points to understand this figure: 14 | - every thing is connected to a WIFI router, 15 | - Vicon system detects the markers attahced to a drone and computes its pose, 16 | - base station runs the package vicon_bridge to get Vicon information into ros topics, 17 | - control signals computed by base station are sent to drone by publishing to ros topics that are provided by mavros. 18 | 19 | 20 | ## 1. How to configurate Vicon for the 1st time 21 | ### 1.1 Start Vicon system at Vicon computer 22 | 1. Satart *Vicon tracker* 23 | 2. **Calibrate system** (do it everytime before experiments) 24 | - dance with favourite music waving your magic wand. 25 |
26 | 27 |
28 | - camera's light becomes green: it mean OK. 29 | - all cameras's light becoming blinking if they are all calibrated. 30 |
31 | 32 |
33 | 3. Set origin 34 | - set volume origin 35 | - put the bar on the ground where you want **the origin** is 36 | - and click *Start* and *Set* 37 | - you should find the cameras' position in the **3D perspective** as the same as the real world. 38 |
39 | 40 |
41 | - **NOTE** the red-gren-bleu coordinate at the left bottom indicates x, y, z directions. 42 | 43 | 4. Recalibrate Vicon 44 | - **Donot touch cage or gate to impact cameras**. 45 | - once a camera's light is blinking, redo calibration. 46 | 5. Set static IP 47 | - set a static IP for Vicon system when connecting to WIFI. 48 | ### 1.2 Build rigid body in Vicon at Vicon computer 49 | 1. Put markers on a drone 50 | - not symmetric 51 | - not covered 52 | - put drone in flight cage and check if all markers can be seen in Vicon 53 | 2. In *Vicon tracker*, Choose *Objects* tag and select all markers 54 | 3. Name object and then create 55 | 4. Select object in *Object* Tag: the object DRONE_z is chosen. 56 |
57 | 58 |
59 | 6. *Go Live* 60 |
61 | 62 |
63 | and we should see the object like below 64 |
65 | 66 |
67 | 68 | ### 1.3 Get Vicon information in ros at base station 69 | This is done at base station. 70 | 71 | 1. Download and build ros package *vicon_bridge* from EEEManchester [https://github.com/EEEManchester/vicon_bridge.git](https://github.com/EEEManchester/vicon_bridge.git). 72 | 73 | 2. Connnect base station to WIFI with a static IP, like 192.168.10.XX 74 | - given a base station with Ubuntu 20.04 and WIFI name being *drone_wifi-5GHz*, 75 | - WIFI settings can be used configure static IP 76 |
77 | 78 |
79 | 80 | - change IPv4 method to be *Manual* meaning that IP adress for this base statino is set manually by us instead of being allocated dynamically, 81 | - put a user-defined address in the first line below *Address*. Puting 192.168.1.21 means that once this base station is connected to *drone_wifi-5GHz*, its IP address will always be 192.168.1.21. 82 | 3. Check WIFI connection between base station and Vicon system 83 | - at vicon computer, ping base station with the static IP just set 84 | ```shell 85 | ping base_station_IP 86 | ``` 87 | - at base tation, ping vicon system, 88 | ```shell 89 | ping vicon_system_IP 90 | ``` 91 | - this can also be used to test WIFI connection among Vicon, base station and drone. For instance, at drone, do 92 | ```shell 93 | ping base_station_IP 94 | ping vicon_system_IP 95 | ``` 96 | 97 | 4. in Vicon launch file, put the IP address of Vicon system as the 98 | **datastream_hostport**, like 192.168.10.183::801 in the launch file below. 99 |
100 | 101 |
102 | 5. run vicon_bridge by 103 | ```shell 104 | roslaunch vicon_bridge vicon_launch 105 | ``` 106 | 6. then, a rostopic named after */vicon/object_name/object_name* should be generated and drone pose information should be found there. 107 | 108 |
109 | 110 |
111 | 112 | It is possible to change the topic of the object in vicon like make DRONE_z' pose information be published to the topic /vicon/drone 113 | ```xml 114 | 115 | ``` 116 | then we can find /vicon/drone in rostopic list 117 |
118 | 119 |
120 | 121 | 7. Vicon ros msg includes position information and attitude in quaterion 122 |
123 | 124 |
125 | 126 | 127 | ## 2. How to use Vicon 128 | 1. **Calibrate Vicon** 129 | - dance with favourite music 130 | - camera's light becomes green: it mean OK. 131 | - all cameras's light becoming blinking if they are all calibrated. 132 | 2. run *vicon_bridge* at base station 133 | ```shell 134 | roslaunch vicon_bridge vicon_launch 135 | ``` 136 | 3. check drone pose information by 137 | ```shell 138 | rostopic echo /vicon/object_name/object_name 139 | ``` 140 | 4. **NOTE change yaw rotation** 141 | It is highly recommended that drones are placed with zero yaw angle. 142 | 143 | Take a quadrotor for example. We usually set the reference yaw angle to be zero, which can cause a potenial risk if the drone is palced with a non-zero yaw angle. 144 | 145 | This image shows a 180 yaw rotation from the origin. 146 |
147 | 148 |
149 | 150 | 151 | ## 3. Use rospackages developed for F46. 152 | 1. get vicon_bridge from https://github.com/ZhongmouLi/vicon_bridge 153 | 2. get drone_experiment_tool from https://github.com/EEEManchester/drone_experiment_tools_F46 154 | 155 | 3. change object name in line 5 156 | ```xml 157 | 158 | ``` 159 | 4. run 160 | ```shell 161 | roslaunch drone_experiment_tools drone_ex_F46_setup.launch 162 | ``` 163 | 164 | ##TODO 165 | 166 | ### 3.1 Use Vicon information in drone controller 167 | 168 | 169 | ### 3.2 Use Vicon information in PX4 170 | 171 | Indoor flights need Motion Capture System to provide pose information for drones. Vicon is setup in F46 and we shall configure PX4 such that our drone takes pose information from Vicon to meet auto flight conditions. 172 | 173 | EKF2_AID_MASK is the parameter to be tuned: 174 | - click 3 if **horizontal position data** will be used and set EKF2_HGT_MODE = 3 if **vertical position data**, 175 | - click 8 if **velocity data** is used, 176 | - click 4 if **orientation data** is used for **for yaw estimation**, or click 6 if vision reference frame offset will be estimated and used to rotate the external vision system data. 177 | 178 | https://risc.readthedocs.io/1-indoor-flight.html 179 | 180 | 181 | https://docs.px4.io/main/en/advanced/switching_state_estimators.html 182 | 183 | https://docs.px4.io/main/en/ros/external_position_estimation.html 184 | 185 | https://docs.px4.io/main/en/ros/external_position_estimation.html#reference-frames-and-ros 186 | 187 | https://docs.px4.io/v1.12/en/computer_vision/motion_capture.html 188 | 189 | https://docs.px4.io/v1.12/en/tutorials/motion-capture-vicon-optitrack.html 190 | 191 | https://docs.px4.io/v1.12/en/ros/external_position_estimation.html#reference-frames-and-ros 192 | 193 | 194 | Source: 195 | 1. External Vision System, PX4, https://docs.px4.io/v1.12/en/advanced_config/tuning_the_ecl_ekf.html. 196 | 2. EKF2_AID_MASK, https://docs.px4.io/v1.12/en/advanced_config/parameter_reference.html#EKF2_AID_MASK. 197 | 198 | ## Set frame transmition 199 | 200 | 201 | 202 | SYS_MC_EST_GROUP 203 | 204 | 205 | https://404warehouse.net/2015/12/20/autopilot-offboard-control-using-mavros-package-on-ros/ 206 | 207 | 208 | TODO 209 | ## 2 Communication schematic among MoCap, drone and base station 210 | 211 | 212 | ### 2.1 State estimation operated by PX4 213 | https://docs.px4.io/v1.12/en/advanced_config/tuning_the_ecl_ekf.html 214 |
215 | 218 |
EKF in PX4 ECL
219 |
220 | 221 | Choosing instances of EKF depends on the number of IMUs and the number of magnetometers. For pixhawks 5x, there are 222 | - 3 IMUS, 223 | - 1 magnetometer, 224 | 225 | therefore, we should set 226 | 227 | - EKF2_MULTI_IMU = 3, 228 | - EKF2_MULTI_MAG = 1, 229 | 230 | which leads to 231 | ``` 232 | N_instances = MAX(EKF2_MULTI_IMU , 1) x MAX(EKF2_MULTI_MAG , 1) = 3 233 | ``` 234 | Following the guide [https://docs.px4.io/v1.12/en/advanced_config/tuning_the_ecl_ekf.html](https://docs.px4.io/v1.12/en/advanced_config/tuning_the_ecl_ekf.html), we should set 235 | - SENS_IMU_MODE = 1 as 1: Publish primary IMU selection, 236 | - SENS_MAG_MODE = 1 as 1: Publish primary magnetometer 237 | -------------------------------------------------------------------------------- /7_Mavros_Controller.md: -------------------------------------------------------------------------------- 1 | # Understand and apply mavros_controller 2 | This tutorial is to help understand and apply introduce mavros_controller. 3 | 4 | The package mavros_controller provides two packages 5 | 1. **trajectory_publisher** is a node publishing setpoints as states from motion primitives / trajectories for the controller to follow. 6 | 2. **geometric_controller** is a node computing and sending commands to drones in order to follow reference trajectory published by **trajectory_publisher**. 7 | 8 | # Understand mavros_controller 9 | ## 2 geometric_controller 10 | Here is a schematic for **geometric_controller**. 11 |
12 | drawing 14 |
15 | 16 | This node 17 | - computes control commands **body rate** and send to mavros/setpoint_raw/attitude 18 | - receives reference trajectory in **ref position** and **ref velocity** from reference/setpoint 19 | 20 | 21 | ### 2.1 Step 1. receivce reference position and velocity 22 | 23 | **Reference position** and **velocity** are gained at the topic reference/setpoint that is published by **trajectory_publisher**. Then Reference acce are computed with the derivative of velocity. 24 | 25 | 26 | Code between line 122-137 in geometric_control.cpp shows that 27 | + reference position is ```targetPos_``` 28 | + reference velocity is ```targetVel_``` 29 | + reference acc is ```targetAcc_``` 30 | 31 | ```C++ 32 | // Line 122-137 33 | void geometricCtrl::targetCallback(const geometry_msgs::TwistStamped &msg) { 34 | reference_request_last_ = reference_request_now_; 35 | targetPos_prev_ = targetPos_; 36 | targetVel_prev_ = targetVel_; 37 | 38 | reference_request_now_ = ros::Time::now(); 39 | reference_request_dt_ = (reference_request_now_ - reference_request_last_).toSec(); 40 | 41 | targetPos_ = toEigen(msg.twist.angular); 42 | targetVel_ = toEigen(msg.twist.linear); 43 | 44 | if (reference_request_dt_ > 0) 45 | targetAcc_ = (targetVel_ - targetVel_prev_) / reference_request_dt_; 46 | else 47 | targetAcc_ = Eigen::Vector3d::Zero(); 48 | } 49 | 50 | ``` 51 | ### 2.2 Step 2. Control application 52 | 53 | Callback function ```cmdloopCallback``` is defined in the constrcuctor as 54 | ```c++ 55 | // Line 69 56 | cmdloop_timer_ = nh_.createTimer(ros::Duration(0.01), &geometricCtrl::cmdloopCallback, this); 57 | ``` 58 | 59 | Core code is in ```cmdloopCallback``` with main functions: 60 | + ```controlPosition``` calculates desired acc from reference position, vel and acc. 61 | + ```computeBodyRateCmd``` 62 | + ```pubReferencePose``` 63 | + ```pubRateCommands``` 64 | + ```appendPoseHistory``` 65 | + ```pubPoseHistory``` 66 | 67 | ```C++ 68 | // Line 225 - 263 69 | void geometricCtrl::cmdloopCallback(const ros::TimerEvent &event) { 70 | /*--------------*/ 71 | 72 | case MISSION_EXECUTION: { 73 | Eigen::Vector3d desired_acc; 74 | if (feedthrough_enable_) { 75 | desired_acc = targetAcc_; 76 | } else { 77 | // 1. calculates desired acc from reference position, vel and acc. 78 | desired_acc = controlPosition(targetPos_, targetVel_, targetAcc_); 79 | } 80 | // 2. 81 | computeBodyRateCmd(cmdBodyRate_, desired_acc); 82 | // 3. 83 | pubReferencePose(targetPos_, q_des); 84 | // 4. 85 | pubRateCommands(cmdBodyRate_, q_des); 86 | // 5. 87 | appendPoseHistory(); 88 | // 6. 89 | pubPoseHistory(); 90 | break; 91 | } 92 | 93 | /*--------------*/ 94 | 95 | } 96 | ``` 97 | 98 | 99 | #### 2.2.1 ```controlPosition``` 100 | ```C++ 101 | desired_acc = controlPosition(targetPos_, targetVel_, targetAcc_); 102 | ``` 103 | ```controlPosition``` is programmed including three funcationalities: 104 | + ```acc2quaternion``` compute **reference attitude** in quaterion, see [acc2quaternion](#acc2quaternion) in [Appendix](#6-appendix) 105 | + ```quat2RotMatrix``` transfer **reference attitude** in rotation matrix from quaterion 106 | + ```poscontroller``` use a PD contro (position and vel) to compute feedback reference acc, see [poscontroller](#poscontroller) in [Appendix](#6-appendix). 107 | + final desired acc, $\mathbf{a}_{des}$, is calculated 108 | $$\mathbf{a}_{des} = \mathbf{a}_{fd} + \mathbf{a}_{ref} - \mathbf{a}_{rd} - \mathbf{g}$$ 109 | 110 | ```C++ 111 | // Line 365 112 | Eigen::Vector3d geometricCtrl::controlPosition(const Eigen::Vector3d &target_pos, const Eigen::Vector3d &target_vel, 113 | const Eigen::Vector3d &target_acc) { 114 | /// Compute BodyRate commands using differential flatness 115 | /// Controller based on Faessler 2017 116 | const Eigen::Vector3d a_ref = target_acc; 117 | if (velocity_yaw_) { 118 | mavYaw_ = getVelocityYaw(mavVel_); 119 | } 120 | 121 | const Eigen::Vector4d q_ref = acc2quaternion(a_ref - g_, mavYaw_); 122 | const Eigen::Matrix3d R_ref = quat2RotMatrix(q_ref); 123 | 124 | const Eigen::Vector3d pos_error = mavPos_ - target_pos; 125 | const Eigen::Vector3d vel_error = mavVel_ - target_vel; 126 | 127 | // Position Controller 128 | const Eigen::Vector3d a_fb = poscontroller(pos_error, vel_error); 129 | 130 | // Rotor Drag compensation 131 | const Eigen::Vector3d a_rd = R_ref * D_.asDiagonal() * R_ref.transpose() * target_vel; // Rotor drag 132 | 133 | // Reference acceleration 134 | const Eigen::Vector3d a_des = a_fb + a_ref - a_rd - g_; 135 | 136 | return a_des; 137 | } 138 | ``` 139 | 140 | #### 2.2.2 ```computeBodyRateCmd``` 141 | ```C++ 142 | // Line 392-408 143 | void geometricCtrl::computeBodyRateCmd(Eigen::Vector4d &bodyrate_cmd, const Eigen::Vector3d &a_des) { 144 | // Reference attitude 145 | q_des = acc2quaternion(a_des, mavYaw_); 146 | 147 | // Choose which kind of attitude controller you are running 148 | bool jerk_enabled = false; 149 | if (!jerk_enabled) { 150 | if (ctrl_mode_ == ERROR_GEOMETRIC) { 151 | // 2.2.a 152 | bodyrate_cmd = geometric_attcontroller(q_des, a_des, mavAtt_); // Calculate BodyRate 153 | 154 | } else { 155 | // 2.2.b 156 | bodyrate_cmd = attcontroller(q_des, a_des, mavAtt_); // Calculate BodyRate 157 | } 158 | } else { 159 | // 2.2.c 160 | bodyrate_cmd = jerkcontroller(targetJerk_, a_des, q_des, mavAtt_); 161 | } 162 | } 163 | ``` 164 | 165 | 2.1 compute reference attitude using the output from **controlPosition** with 166 | 167 | ```c++ 168 | q_des = acc2quaternion(a_des, mavYaw_); 169 | ``` 170 | 171 | 2.2 calculate control input **body rate** by one of three methods 172 | + ```bodyrate_cmd = geometric_attcontroller(q_des, a_des, mavAtt_);``` 173 | which is 174 | ```c++ 175 | // Line 494 - 517 176 | Eigen::Vector4d geometricCtrl::geometric_attcontroller(const Eigen::Vector4d &ref_att, const Eigen::Vector3d &ref_acc, 177 | Eigen::Vector4d &curr_att) { 178 | // Geometric attitude controller 179 | // Attitude error is defined as in Lee, Taeyoung, Melvin Leok, and N. Harris McClamroch. "Geometric tracking control 180 | // of a quadrotor UAV on SE (3)." 49th IEEE conference on decision and control (CDC). IEEE, 2010. 181 | // The original paper inputs moment commands, but for offboard control, angular rate commands are sent 182 | 183 | Eigen::Vector4d ratecmd; 184 | Eigen::Matrix3d rotmat; // Rotation matrix of current attitude 185 | Eigen::Matrix3d rotmat_d; // Rotation matrix of desired attitude 186 | Eigen::Vector3d error_att; 187 | 188 | rotmat = quat2RotMatrix(curr_att); 189 | rotmat_d = quat2RotMatrix(ref_att); 190 | 191 | error_att = 0.5 * matrix_hat_inv(rotmat_d.transpose() * rotmat - rotmat.transpose() * rotmat_d); 192 | ratecmd.head(3) = (2.0 / attctrl_tau_) * error_att; 193 | rotmat = quat2RotMatrix(mavAtt_); 194 | const Eigen::Vector3d zb = rotmat.col(2); 195 | ratecmd(3) = 196 | std::max(0.0, std::min(1.0, norm_thrust_const_ * ref_acc.dot(zb) + norm_thrust_offset_)); // Calculate thrust 197 | 198 | return ratecmd; 199 | } 200 | ``` 201 | + ```bodyrate_cmd = attcontroller(q_des, a_des, mavAtt_)``` 202 | ```c++ 203 | // Line 436-456 204 | Eigen::Vector4d geometricCtrl::attcontroller(const Eigen::Vector4d &ref_att, const Eigen::Vector3d &ref_acc, 205 | Eigen::Vector4d &curr_att) { 206 | // Geometric attitude controller 207 | // Attitude error is defined as in Brescianini, Dario, Markus Hehn, and Raffaello D'Andrea. Nonlinear quadrocopter 208 | // attitude control: Technical report. ETH Zurich, 2013. 209 | 210 | Eigen::Vector4d ratecmd; 211 | 212 | const Eigen::Vector4d inverse(1.0, -1.0, -1.0, -1.0); 213 | const Eigen::Vector4d q_inv = inverse.asDiagonal() * curr_att; 214 | const Eigen::Vector4d qe = quatMultiplication(q_inv, ref_att); 215 | ratecmd(0) = (2.0 / attctrl_tau_) * std::copysign(1.0, qe(0)) * qe(1); 216 | ratecmd(1) = (2.0 / attctrl_tau_) * std::copysign(1.0, qe(0)) * qe(2); 217 | ratecmd(2) = (2.0 / attctrl_tau_) * std::copysign(1.0, qe(0)) * qe(3); 218 | const Eigen::Matrix3d rotmat = quat2RotMatrix(mavAtt_); 219 | const Eigen::Vector3d zb = rotmat.col(2); 220 | ratecmd(3) = 221 | std::max(0.0, std::min(1.0, norm_thrust_const_ * ref_acc.dot(zb) + norm_thrust_offset_)); // Calculate thrust 222 | 223 | return ratecmd; 224 | } 225 | ``` 226 | + ```bodyrate_cmd = jerkcontroller(targetJerk_, a_des, q_des, mavAtt_)``` 227 | ```c++ 228 | // Line 458-492 229 | Eigen::Vector4d geometricCtrl::jerkcontroller(const Eigen::Vector3d &ref_jerk, const Eigen::Vector3d &ref_acc, 230 | Eigen::Vector4d &ref_att, Eigen::Vector4d &curr_att) { 231 | // Jerk feedforward control 232 | // Based on: Lopez, Brett Thomas. Low-latency trajectory planning for high-speed navigation in unknown environments. 233 | // Diss. Massachusetts Institute of Technology, 2016. 234 | // Feedforward control from Lopez(2016) 235 | 236 | double dt_ = 0.01; 237 | // Numerical differentiation to calculate jerk_fb 238 | const Eigen::Vector3d jerk_fb = (ref_acc - last_ref_acc_) / dt_; 239 | const Eigen::Vector3d jerk_des = ref_jerk + jerk_fb; 240 | const Eigen::Matrix3d R = quat2RotMatrix(curr_att); 241 | const Eigen::Vector3d zb = R.col(2); 242 | 243 | const Eigen::Vector3d jerk_vector = 244 | jerk_des / ref_acc.norm() - ref_acc * ref_acc.dot(jerk_des) / std::pow(ref_acc.norm(), 3); 245 | const Eigen::Vector4d jerk_vector4d(0.0, jerk_vector(0), jerk_vector(1), jerk_vector(2)); 246 | 247 | Eigen::Vector4d inverse(1.0, -1.0, -1.0, -1.0); 248 | const Eigen::Vector4d q_inv = inverse.asDiagonal() * curr_att; 249 | const Eigen::Vector4d qd = quatMultiplication(q_inv, ref_att); 250 | 251 | const Eigen::Vector4d qd_star(qd(0), -qd(1), -qd(2), -qd(3)); 252 | 253 | const Eigen::Vector4d ratecmd_pre = quatMultiplication(quatMultiplication(qd_star, jerk_vector4d), qd); 254 | 255 | Eigen::Vector4d ratecmd; 256 | ratecmd(0) = ratecmd_pre(2); // TODO: Are the coordinate systems consistent? 257 | ratecmd(1) = (-1.0) * ratecmd_pre(1); 258 | ratecmd(2) = 0.0; 259 | ratecmd(3) = 260 | std::max(0.0, std::min(1.0, norm_thrust_const_ * ref_acc.dot(zb) + norm_thrust_offset_)); // Calculate thrust 261 | last_ref_acc_ = ref_acc; 262 | return ratecmd; 263 | } 264 | ``` 265 | 2.3 how to choose attiude control methods 266 | + Paramers for choosing attitude control mode are defined in geometric_controller.h 267 | ```c++ 268 | // Line 75-76 269 | #define ERROR_GEOMETRIC 2 270 | #define ERROR_QUATERNION 1 271 | ``` 272 | + Variable to choose the mode is read from ros param **ctrl_mode** 273 | ```c++ 274 | //Line 84 275 | nh_private_.param("ctrl_mode", ctrl_mode_, ERROR_QUATERNION); 276 | ``` 277 | which is specified in launch file, e.g. sitl_trajectory_track_circle.launch using **command_input**. 278 | 279 | ```shell 280 | # Line 7 281 | 282 | # Line 17 283 | 284 | ``` 285 | **Remarks**: 286 | 1. Usually, only ```attcontroller``` and ```geometric_attcontroller``` are available 287 | 2. Set ```command_input = 2``` leads to ```geometric_attcontroller```, while ```command_input = 1``` leads to ```attcontroller```. 288 | 289 | #### 2.2.3 ```pubReferencePose``` 290 | This function is to publish reference position and attitude to the topic reference/pose as 291 | ```c++ 292 | pubReferencePose(targetPos_, q_des); 293 | ``` 294 | 295 | ```c++ 296 | // Line 290-303 297 | void geometricCtrl::pubReferencePose(const Eigen::Vector3d &target_position, const Eigen::Vector4d &target_attitude) { 298 | geometry_msgs::PoseStamped msg; 299 | 300 | msg.header.stamp = ros::Time::now(); 301 | msg.header.frame_id = "map"; 302 | msg.pose.position.x = target_position(0); 303 | msg.pose.position.y = target_position(1); 304 | msg.pose.position.z = target_position(2); 305 | msg.pose.orientation.w = target_attitude(0); 306 | msg.pose.orientation.x = target_attitude(1); 307 | msg.pose.orientation.y = target_attitude(2); 308 | msg.pose.orientation.z = target_attitude(3); 309 | referencePosePub_.publish(msg); 310 | } 311 | ``` 312 | 313 | 314 | #### 2.2.4 ```pubRateCommands``` 315 | This function is to publish the control input (body rate and thrust) to the topic command/bodyrate_command as 316 | ```c++ 317 | pubRateCommands(cmdBodyRate_, q_des); 318 | ``` 319 | where is maped to /mavros/setpoint_raw/attitude 320 | ```shell 321 | 322 | ``` 323 | 324 | ```c++ 325 | // Line 305-321 326 | void geometricCtrl::pubRateCommands(const Eigen::Vector4d &cmd, const Eigen::Vector4d &target_attitude) { 327 | mavros_msgs::AttitudeTarget msg; 328 | 329 | msg.header.stamp = ros::Time::now(); 330 | msg.header.frame_id = "map"; 331 | msg.body_rate.x = cmd(0); 332 | msg.body_rate.y = cmd(1); 333 | msg.body_rate.z = cmd(2); 334 | msg.type_mask = 128; // Ignore orientation messages 335 | msg.orientation.w = target_attitude(0); 336 | msg.orientation.x = target_attitude(1); 337 | msg.orientation.y = target_attitude(2); 338 | msg.orientation.z = target_attitude(3); 339 | msg.thrust = cmd(3); 340 | 341 | angularVelPub_.publish(msg); 342 | } 343 | ``` 344 | 345 | #### 2.2.5 ```pubReferencePose``` and ```pubPoseHistory()``` 346 | Here we do two things 347 | + with ```appendPoseHistory()```, we record the drone's position and attitude and save them into a vector ```posehistory_vector_``` with a size of```posehistory_window_``` (default = 200). 348 | ```c++ 349 | // Line 243-244 350 | appendPoseHistory(); 351 | pubPoseHistory(); 352 | ``` 353 | ```c++ 354 | // Line 343-348 355 | void geometricCtrl::appendPoseHistory() { 356 | posehistory_vector_.insert(posehistory_vector_.begin(), vector3d2PoseStampedMsg(mavPos_, mavAtt_)); 357 | if (posehistory_vector_.size() > posehistory_window_) { 358 | posehistory_vector_.pop_back(); 359 | } 360 | } 361 | ``` 362 | + with ```pubPoseHistory()```, ```posehistory_vector_``` is published to the topic geometric_controller/path 363 | 364 | ```c++ 365 | // Line 323-331 366 | void geometricCtrl::pubPoseHistory() { 367 | nav_msgs::Path msg; 368 | 369 | msg.header.stamp = ros::Time::now(); 370 | msg.header.frame_id = "map"; 371 | msg.poses = posehistory_vector_; 372 | 373 | posehistoryPub_.publish(msg); 374 | } 375 | ``` 376 | # 3 trajectory_publisher 377 | It is implemented in ```trajectoryPublisher.cpp```. 378 | 379 | 380 | ## 3.1 Step 1 381 | In the constructor, 382 | ```c++ 383 | trajectoryPublisher::trajectoryPublisher(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private)// 384 | : nh_(nh), nh_private_(nh_private), motion_selector_(0)// 385 | ``` 386 | 1. read ```num_primitives_``` from ros parameter ```number_of_primitives``` 387 | ```c++ 388 | nh_private_.param("number_of_primitives", num_primitives_, 7); 389 | ``` 390 | 2. change the size of ```inputs_``` to be ```num_primitives_``` 391 | ```c++ 392 | inputs_.resize(num_primitives_); 393 | ``` 394 | 395 | 4. ```initializePrimitives``` is called at the end of constructor. 396 | 397 | ```c++ 398 | initializePrimitives(trajectory_type_); 399 | ``` 400 | ```c++ 401 | void trajectoryPublisher::initializePrimitives(int type) { 402 | if (type == 0) { 403 | for (int i = 0; i < motionPrimitives_.size(); i++) 404 | motionPrimitives_.at(i)->generatePrimitives(p_mav_, v_mav_, inputs_.at(i)); 405 | } else { 406 | for (int i = 0; i < motionPrimitives_.size(); i++) 407 | motionPrimitives_.at(i)->initPrimitives(shape_origin_, shape_axis_, shape_omega_); 408 | // TODO: Pass in parameters for primitive trajectories 409 | } 410 | } 411 | ``` 412 | 413 | ## 3.2 step 2 Choose trajectory planning 414 | Trajectory can be planned with two different methods: 415 | + polynomial trajectory by setting ```trajectory_type_ =0``` 416 | + shape trajectory by setting ```trajectory_type_ =1``` 417 | ```c++ 418 | if (trajectory_type_ == 0) { // Polynomial Trajectory 419 | 420 | if (num_primitives_ == 7) { 421 | inputs_.at(0) << 0.0, 0.0, 0.0; // Constant jerk inputs for minimim time trajectories 422 | inputs_.at(1) << 1.0, 0.0, 0.0; 423 | inputs_.at(2) << -1.0, 0.0, 0.0; 424 | inputs_.at(3) << 0.0, 1.0, 0.0; 425 | inputs_.at(4) << 0.0, -1.0, 0.0; 426 | inputs_.at(5) << 0.0, 0.0, 1.0; 427 | inputs_.at(6) << 0.0, 0.0, -1.0; 428 | } 429 | 430 | for (int i = 0; i < num_primitives_; i++) { 431 | /*Poly trajectory initilisation*/ 432 | motionPrimitives_.emplace_back(std::make_shared()); 433 | primitivePub_.push_back( 434 | nh_.advertise("trajectory_publisher/primitiveset" + std::to_string(i), 1)); 435 | inputs_.at(i) = inputs_.at(i) * max_jerk_; 436 | } 437 | } else { // Shape trajectories 438 | 439 | num_primitives_ = 1; 440 | 441 | /*Shape trajectory initilisation*/ 442 | motionPrimitives_.emplace_back(std::make_shared(trajectory_type_)); 443 | primitivePub_.push_back(nh_.advertise("trajectory_publisher/primitiveset", 1)); 444 | } 445 | ``` 446 | 447 | ```motion_selector_``` 448 | 449 | ## 3.3 step 3 Publish reference trajectory and setpoints 450 | Core functions are ```loopCallback``` and ```refCallback```: ```loopCallback``` is called with a frequency of 10HZ, while ```refCallback```is called with a frequency of 100HZ. 451 | 452 | ```c++ 453 | // Line 58-59 454 | trajloop_timer_ = nh_.createTimer(ros::Duration(0.1), &trajectoryPublisher::loopCallback, this); 455 | refloop_timer_ = nh_.createTimer(ros::Duration(0.01), &trajectoryPublisher::refCallback, this); 456 | ``` 457 | 458 | 459 | ### ```loopCallback``` publish reference trajectory 460 | Whole/Segment reference trajecotry is publised to trajectory_publisher/trajectory. 461 | ```c++ 462 | void trajectoryPublisher::loopCallback(const ros::TimerEvent& event) { 463 | // Slow Loop publishing trajectory information 464 | pubrefTrajectory(motion_selector_); 465 | pubprimitiveTrajectory(); 466 | } 467 | ``` 468 | 469 | 1. ```pubrefTrajectory(motion_selector_)``` publish the whole reference trajectory to trajectory_publisher/trajectory. 470 | ```c++ 471 | void trajectoryPublisher::pubrefTrajectory(int selector) { 472 | // Publish current trajectory the publisher is publishing 473 | refTrajectory_ = motionPrimitives_.at(selector)->getSegment(); 474 | refTrajectory_.header.stamp = ros::Time::now(); 475 | refTrajectory_.header.frame_id = "map"; 476 | trajectoryPub_.publish(refTrajectory_); 477 | } 478 | ``` 479 | where the publisher is defined as 480 | ```c++ 481 | trajectoryPub_ = nh_.advertise("trajectory_publisher/trajectory", 1); 482 | ``` 483 | 484 | 2. ```pubprimitiveTrajectory()``` publishes segments of reference trajectory to trajectory_publisher/primitiveset. 485 | ```c++ 486 | void trajectoryPublisher::pubprimitiveTrajectory() { 487 | for (int i = 0; i < motionPrimitives_.size(); i++) { 488 | primTrajectory_ = motionPrimitives_.at(i)->getSegment(); 489 | primTrajectory_.header.stamp = ros::Time::now(); 490 | primTrajectory_.header.frame_id = "map"; 491 | primitivePub_.at(i).publish(primTrajectory_); 492 | } 493 | } 494 | ``` 495 | ```c++ 496 | primitivePub_.push_back(nh_.advertise("trajectory_publisher/primitiveset", 1)); 497 | ``` 498 | 499 | ## 3.4 step 4 send setpoint of reference trajectory to drone 500 | Inside ```refCallback```, we have three options to compute setpoints for drone. 501 | 502 | ```c++ 503 | void trajectoryPublisher::refCallback(const ros::TimerEvent& event) { 504 | // Fast Loop publishing reference states 505 | updateReference(); 506 | switch (pubreference_type_) { 507 | case REF_TWIST: // REF_TWIST = 8 508 | pubrefState(); 509 | break; 510 | case REF_SETPOINTRAW: // REF_TWIST = 16 511 | pubrefSetpointRaw(); 512 | // pubrefSetpointRawGlobal(); 513 | break; 514 | default: // pubreference_type_ by default = 2 515 | pubflatrefState(); 516 | break; 517 | } 518 | } 519 | ``` 520 | 521 | | ```pubreference_type_``` | Function | Commamds | Topic | 522 | | ----------- | ----------- |----------- |----------- | 523 | | 2 (default) |```pubflatrefState``` | p_targ, v_targ, a_targ |```reference/flatsetpoint``` | 524 | | 8 | ```pubrefState``` |p_targ, v_targ| ```reference/setpoint```| 525 | | 16 | ```pubrefSetpointRaw``` |p_targ, v_targ, a_targ | ```mavros/setpoint_raw/local```| 526 | 527 | 528 | ```c++ 529 | void trajectoryPublisher::updateReference() { 530 | curr_time_ = ros::Time::now(); 531 | trigger_time_ = (curr_time_ - start_time_).toSec(); 532 | 533 | p_targ = motionPrimitives_.at(motion_selector_)->getPosition(trigger_time_); 534 | v_targ = motionPrimitives_.at(motion_selector_)->getVelocity(trigger_time_); 535 | if (pubreference_type_ != 0) a_targ = motionPrimitives_.at(motion_selector_)->getAcceleration(trigger_time_); 536 | } 537 | ``` 538 | 539 | 540 | # 4 Appendix 541 | ## 4.1 algorithm in geometirc_controller 542 | ### acc2quaternion 543 | ```acc2quaternion``` is to compute a reference rotation from reference acceleration, which is called in ```controlPosition```and ```computeBodyRateCmd``` 544 | ```c++ 545 | // Line 374 546 | // Or Line 394 547 | const Eigen::Vector4d q_ref = acc2quaternion(a_ref - g_, mavYaw_); 548 | ``` 549 | where the function ```acc2quaternion``` is defined as below 550 | ```C++ 551 | // line 420 - 434 552 | Eigen::Vector4d geometricCtrl::acc2quaternion(const Eigen::Vector3d &vector_acc, const double &yaw) { 553 | Eigen::Vector4d quat; 554 | Eigen::Vector3d zb_des, yb_des, xb_des, proj_xb_des; 555 | Eigen::Matrix3d rotmat; 556 | 557 | proj_xb_des << std::cos(yaw), std::sin(yaw), 0.0; 558 | 559 | zb_des = vector_acc / vector_acc.norm(); 560 | yb_des = zb_des.cross(proj_xb_des) / (zb_des.cross(proj_xb_des)).norm(); 561 | xb_des = yb_des.cross(zb_des) / (yb_des.cross(zb_des)).norm(); 562 | 563 | rotmat << xb_des(0), yb_des(0), zb_des(0), xb_des(1), yb_des(1), zb_des(1), xb_des(2), yb_des(2), zb_des(2); 564 | quat = rot2Quaternion(rotmat); 565 | return quat; 566 | } 567 | ``` 568 | and more explanation can be found in slides. TO DO. 569 | 570 | 571 | ### ```poscontroller``` 572 | ```poscontroller``` uses PD control to computes a reference acc from position and vel error, which is called in ```cmdloopCallback``` at line 238. 573 | 574 | In fact, it can be represented using the following equation 575 | 576 | $$\mathbf{a}_{fb} = K_{pos} \cdot \mathbf{e}_p + K_{vel} \cdot \mathbf{e}_v \,.$$ 577 | 578 | ```c++ 579 | // Line 410 580 | Eigen::Vector3d geometricCtrl::poscontroller(const Eigen::Vector3d &pos_error, const Eigen::Vector3d &vel_error) { 581 | Eigen::Vector3d a_fb = 582 | Kpos_.asDiagonal() * pos_error + Kvel_.asDiagonal() * vel_error; // feedforward term for trajectory error 583 | 584 | if (a_fb.norm() > max_fb_acc_) 585 | a_fb = (max_fb_acc_ / a_fb.norm()) * a_fb; // Clip acceleration if reference is too large 586 | 587 | return a_fb; 588 | } 589 | ``` 590 | 591 | 592 | ## ROS techniques in mavros_controller 593 | Subscriper 594 | ```C++ 595 | referenceSub_ = nh_.subscribe("reference/setpoint", 1, &geometricCtrl::targetCallback, this, ros::TransportHints().tcpNoDelay()); 596 | ``` 597 | Usually, subscriber is ROS C++ is defined like 598 | ```C++ 599 | ros::Subscriber sub = nh.subscribe("my_topic", 1, callback); 600 | ``` 601 | with three arguments: 602 | - topic to subscribed, 603 | - queue sise, 604 | - callback function. 605 | 606 | Well, the full version of subscriber is defined with four arguments 607 | ```C++ 608 | Subscriber ros::NodeHandle::subscribe( 609 | const std::string & topic, 610 | uint32_t queue_size, 611 | const boost::function< void(C)>& callback, 612 | const VoidConstPtr& tracked_object = VoidConstPtr(), 613 | const TransportHints& transport_hints = TransportHints() 614 | ) 615 | ``` 616 | 1. ```tracked_object``` 617 | 618 | Parameter *tracked_object* defines a shared pointer to an object to track for these callbacks. If set, the a weak_ptr will be created to this object, and if the reference count goes to 0 the subscriber callbacks will not get called. 619 | 620 | Note that setting this will cause a new reference to be added to the object before the callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore 621 | thread) that the callback is invoked fro 622 | 623 | 2. ```transport_hints``` 624 | ```transport_hints``` allows us to choose prefered connection ways by specify hints to roscpp's transport layer. 625 | 626 | We can choose one among ```unreliable, reliable, maxDatagramSize, tcpNoDelay``` 627 | ```C++ 628 | ros::TransportHints() 629 | .unreliable() 630 | .reliable() 631 | .maxDatagramSize(1000) 632 | .tcpNoDelay(); 633 | ``` 634 | 635 | just likes 636 | ```C++ 637 | ros::Subscriber sub = nh.subscribe("my_topic", 1, callback, ros::TransportHints().unreliable()); 638 | ``` 639 | 640 | More details can be found [roscpp Overview Publishers and Subscribers](http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers). 641 | 642 | [ROS API](https://docs.ros.org/en/api/roscpp/html/classros_1_1NodeHandle.html#a6b655c04f32c4c967d49799ff9312ac6) 643 | 644 | advertiseService 645 | ```C++ 646 | ctrltriggerServ_ = nh_.advertiseService("trigger_rlcontroller", &geometricCtrl::ctrltriggerCallback, this); 647 | ``` 648 | 649 | ```advertiseService``` allows us to creat a ```ros::ServiceServer`` that works similar to how the ```subscribe()``` method works. 650 | 651 | # Apply mavros_controller 652 | 653 | ## Modification 654 | 655 | ## Prepare real flight 656 | Bench test is to 657 | 1. check if **we can arm and offboard a drone with RC controller** 658 | 2. debuy and tune geometirc_controller without propellers 659 |
660 | 661 |
662 | 663 | 664 | -------------------------------------------------------------------------------- /7_Mavros_Controller/bench_test.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/7_Mavros_Controller/bench_test.png -------------------------------------------------------------------------------- /7_Mavros_Controller/v1_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/EEEManchester/drone_build_tutorial/e43b8bbab732ebe356b171d265c06b7bfc5832ae/7_Mavros_Controller/v1_0.png -------------------------------------------------------------------------------- /8_0_ROS2.md: -------------------------------------------------------------------------------- 1 | # ROS2 2 | This page is to step into the ROS2's world. 3 | 4 | Development envrionmen 5 | - Ubuntu 20.04 6 | - ROS2 foxy 7 | 8 | ## 0. ROS2 VS ROS 9 | [Understand ROS2 with comparation with ROS](8_1_Intro_ROS2.md) 10 | 11 | 12 | ## 1. Install ROS2 13 | [How to install ROS2 Foxy](8_2_Install_ROS2.md) 14 | 15 | 16 | ## 2. Configure ROS2 workspace 17 | [Configure ROS2 workspace](8_2_Config_Workspace.md) 18 | 19 | 20 | ## 3. Examples of Publisher and Subscriber in C++ 21 | [Simple examples for publisher and subscriber](8_3_Config_Workspace.md) 22 | 23 | 24 | 25 | 26 | TODO: 27 | 28 | - https://automaticaddison.com/ros-2-tutorials-foxy-fitzroy/ 29 | - https://www.youtube.com/watch?v=Gg25GfA456o&ab_channel=RoboticsBack-End 30 | - https://www.youtube.com/playlist?list=PLRE44FoOoKf7NzWwxt3W2taZ7BiWyfhCp 31 | - https://fishros.com/d2lros2/#/humble/chapt1/advanced/2.%E4%B8%AD%E9%97%B4%E4%BB%B6DDS%E6%9E%B6%E6%9E%84 32 | - https://zhuanlan.zhihu.com/p/423581728 33 | - https://mp.weixin.qq.com/s?__biz=MzkzMzI2MTU2Nw==&mid=2247484345&idx=1&sn=b5b5e0cedadacc085030eca33c3ccc47&chksm=c24e7a29f539f33f6f934c8b58ec37775f66550c6c459532f7a267579bc72d464a3d1d064e26&cur_album_id=1961689564104720387&scene=189#wechat_redirect 34 | - https://osrf.github.io/ros2multirobotbook/ros2_tools_resources.html 35 | - https://github.com/osrf/icra2023_ros2_gz_tutorial 36 | - https://github.com/osrf/vehicle_gateway 37 | - http://www.uml.org.cn/modeler/202110131.asp 38 | 39 | ### Creat own lib in ROS2 40 | 41 | How to create and use your own C++ Library with ROS2, https://youtu.be/S7AjhNKHpvs 42 | 43 | 44 | ## Reference 45 | 1. Install ROS2 Along With ROS1 | Foxy | Noetic | Simple ROS2 Tutorial | 2022 https://www.youtube.com/watch?v=CtW7Cqzeb8o&ab_channel=HarshMittal 46 | 2. Olivier Kermorgant, http://pagesperso.ls2n.fr/~kermorgant-o/teaching.html#C++_programming 47 | 3. Using colcon to build packages https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html?highlight=colcon -------------------------------------------------------------------------------- /8_1_Intro_ROS2.md: -------------------------------------------------------------------------------- 1 | ## Structure of ROS2 Foxy 2 | ### Why move to ROS2 from ROS 3 | | | ROS2 | ROS | 4 | |:----: |:----: |:----: | 5 | |Design target | For Industry | For Academia | 6 | |Design origin | For multi robots | For single robot | 7 | |Platform | Multi-platform | Linux | 8 | |Real-time | Yes | No | 9 | |Sensor | Small processors | Complex robots and sensors | 10 | |Network environment | Unreliable network is OK| Perfect network is perfered(ideally on the same computer)| 11 | | Others| Deterministic behavior| Lot of computational power| 12 | | | Error recovery| | 13 | 14 | ### Differences in structues of ROS and ROS2 15 | 16 | 17 | 18 | Key difference is ROS 2 has no ros master. 19 | 20 | ROS 2 allows to completely create a distributed system. 21 | 22 | **API differences** 23 | 24 | 25 | 26 | 27 | 28 | 29 | switching DDS is [ROS2 - Switch Between Different DDS Implementations (Fast DDS, cyclone DDS)](https://www.youtube.com/watch?v=V3UPx_3VoyA&ab_channel=RoboticsBack-End) 30 | 31 | DDS ref https://hackmd.io/@st9540808/SkM_SOTJH 32 | 33 | 34 | - c++ and python in ROS 2 are united by using a common client library. 35 | - roscpp and rospy are independent, some functions exsit only for one or the other. It is possible to come across that the needed features only are available in rospy, while your project uses roscpp. 36 | - rclcpp and rclpy are much more simular. Both of them depend on rcl and providing the binding: all functions are implemented in rcl. 37 | - ROS 2 enables developers using other language to expereince a simular API. It is possible to use libraries in other languages like java as long as a binding between rcl ane them are developed. 38 | - A new feature once is realsed, it will be available for all languages in ROS2. Only a binding is needed. By contrast, in ROS, 39 | 40 | Supports for Python and C++ 41 | - ROS 2 is only for Python 3. 42 | - ROS 2 supports C++ 11 and 14 by default, C++ 17 is also on the roadmap. 43 | 44 | **Workspace overlays** 45 | 46 | We can overlay workspace and pkgs. 47 | 48 | 49 | ### Key concepts of ROS2 50 | #### Node 51 | A node can send and receive data from other nodes via topics, services, actions, or parameters. Usually, a node should be responible for for a single and modular purpose like controlling the wheel motors and publishing the sensor data from a laser range-finder. 52 | 53 | 54 | 55 | **Difference in concept from ROS** 56 | 57 | One executable in ROS2 can contain several nodes: 58 | - ROS 1: the node is the entire executable 59 | - ROS 2: several nodes in the same executable (classes) 60 | 61 | Because of this key difference, ROS2 is very suitable for a multi-robot system. ROS2 allows one executable, or package, to be programmed for one type of task wiht each node is in charge of one individual fucntion or module. 62 | 63 | In contrast, one robot may need multiple executables/nodes. 64 | 65 | A node in ROS2 is a class that can be: 66 | - Compiled, run or stopped independently 67 | - Written in different languages (C++ / Python3) 68 | 69 | 70 | ROS1 vs ROS2, Practical Overview For ROS Developers, https://roboticsbackend.com/ros1-vs-ros2-practical-overview/ -------------------------------------------------------------------------------- /8_2_Install_ROS2.md: -------------------------------------------------------------------------------- 1 | 1. Choose ROS2 version at http://docs.ros.org/ 2 |
3 | 4 |
5 | Version can be chosen according to OS. For example foxy is recommended for Ubuntu 22.04. 6 | 7 | The steps below are just following guidances given at http://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html. 8 | 9 | 2. Get locale supports of UTF-8. 10 | 11 | 2.1 Check supoort by typing 12 | ```bash 13 | local 14 | ``` 15 | 2.2 It is supported. 16 | It means they are already supported if we see 17 |
18 | 19 |
20 | 21 | which shows that LANG=en.UTF-8 and UTF-8 support is set alreay. 22 | 23 | 2.3 It is not supported and needs to be installed 24 | Run the follwoing commands in the terminal. 25 | 26 | ```bash 27 | sudo apt update && sudo apt install locales 28 | sudo locale-gen en_US en_US.UTF-8 29 | sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 30 | export LANG=en_US.UTF-8 31 | ``` 32 | 33 | 3. Setup Sources for ROS2 34 | 35 | We should set universal apt available for the system. This can be checked by 36 | 37 | ```bash 38 | apt-cache policy | grep universal 39 | ``` 40 | which results into 41 |
42 | 43 |
44 | 45 | Then, add the ROS2 GPG key with apt. 46 | 47 | ```bash 48 | sudo apt update && sudo apt install curl -y 49 | sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 50 | ``` 51 | and add the rep 52 | 53 | ```bash 54 | echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null 55 | ``` 56 | 4. Install ROS2 packages 57 | - update and upgrade 58 | ```bash 59 | sudo apt update && sudo apt upgrade 60 | ``` 61 | - install desktop (Recommended): ROS, RViz, demos, tutorials 62 | ```bash 63 | sudo apt install ros-foxy-desktop python3-argcomplete 64 | ``` 65 | - install development tools like compilers 66 | ```bash 67 | sudo apt install ros-dev-tools 68 | ``` 69 | 5. Make ROS2 compatible with ROS 70 | 71 | .bashrc needs to be modified in order to source ROS and ROS2. 72 | 73 | - find .bashrc in ~ 74 | - find and comments source commands for ROS, like ROS noetic 75 | ```bash 76 | # ROS noetic 77 | #source /opt/ros/noetic/setup.bash 78 | #source ~/catkin_ws/devel/setup.bash 79 | ``` 80 | - add source commands for ROS2 such that 81 | ```bash 82 | # ROS noetic 83 | #source /opt/ros/noetic/setup.bash 84 | #source ~/catkin_ws/devel/setup.bash 85 | 86 | # ROS2 foxy 87 | source /opt/ros/foxy/setup.bash 88 | ``` 89 | - NOTE switching between ROS and ROS2 is done through modifying .bashrc 90 | - use ROS by commenting source commands for ROS2 91 | ```bash 92 | # ROS noetic 93 | source /opt/ros/noetic/setup.bash 94 | source ~/catkin_ws/devel/setup.bash 95 | 96 | # ROS2 foxy 97 | #source /opt/ros/foxy/setup.bash 98 | ``` 99 | - use ROS2 by commenting source commands for ROS 100 | ```bash 101 | # ROS noetic 102 | #source /opt/ros/noetic/setup.bash 103 | #source ~/catkin_ws/devel/setup.bash 104 | 105 | # ROS2 foxy 106 | source /opt/ros/foxy/setup.bash 107 | ``` 108 | 6. Check ROS2 installation 109 | 110 | In a terminal 111 | ```bash 112 | ros2 run demo_nodes_cpp talker 113 | ``` 114 | and in another 115 | ```bash 116 | ros2 run demo_nodes_cpp listener 117 | ``` 118 | 119 | Installation is completed if we can see 120 |
121 | 122 |
123 | 124 | We can find the rqt_grap by typing rqt_gragh in termainl and 125 |
126 | 127 |
-------------------------------------------------------------------------------- /8_3_Config_Workspace.md: -------------------------------------------------------------------------------- 1 | ## Workspace Configuration for ROS2 2 | In ROS2, ament is the new building system, and on top of that we get the colcon command line tool. 3 | 4 | However, in ROS, catkin is the building system that combines CMake macros and Python scripts on top of CMake's normal workflow. That is why we use CMakeLists.txt. 5 | 6 | To better understand, we use ROS as a refernce 7 | - colcon like catkin tools, provide commands to create, build and test pkgs, 8 | - ament is iterated on catkin from ROS. 9 | 10 | ### Configuration for colcon 11 | Three tools are essential for ROS2: 12 | - ROS2, itself; 13 | - colcon as build tools. 14 | 15 | We need colcon to build and manage pkgs developed in ROS2. Workspace is where these pkgs are located. In this case, we create the workspace as the folder *ros2_ws* by 16 | 17 | ```bash 18 | cd ~ 19 | mkdir ros2_ws 20 | cd ros2_ws && mkdir src 21 | ``` 22 | where 23 | - *ros2_ws* is the workspace in which we use build pkgs 24 | - *ros2_ws/src* is where the built pkgs 25 | 26 | 1. colcon tools to build ROS2 pkgs 27 | Install colcon 28 | ```bash 29 | sudo apt install python3-colcon-common-extensions 30 | ``` 31 | 2. Enable auto completation of colcon 32 | - check if ```colcon-argcomplete.bash``` exisits in 33 | ```bash 34 | ls /usr/share/colcon_argcomplete/hook 35 | ``` 36 | - modify ~/.bashrc to source ```colcon-argcomplete.bash``` whenever a new terminal is called by adding the following command 37 | ```bash 38 | source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash 39 | ``` 40 | 3. Enable the searching availablity of pkgs in *ros2_ws* by adding the following command to ~/.bashrc 41 | ```bash 42 | source ~/ros2_ws/install/setup.bash 43 | ``` 44 | Finally, we have added three lines into ~/.bashrc 45 | ```bash 46 | # ROS2 foxy 47 | source /opt/ros/foxy/setup.bash 48 | # ros2 workspace 49 | source ~/ros2_ws/install/setup.bash 50 | # auto completation of colcon 51 | source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash 52 | ``` 53 | ### colcon commands for ROS2 54 | 55 | | | ROS2 | ROS | 56 | |:----: |:--------: |:--------: | 57 | |Build pkgs | colcon build | catkin build | 58 | |Create pkg | ros2 pkg create --build-type ament_cmake | catkin create pkg | 59 | || ros2 pkg create --build-type ament_python| | 60 | |Build certain pkg| colcon build --packages-select | catkin build | 61 | |Run pkg | ros2 run | ros run | 62 | |Find exe | ros2 pkg prefix | ros pkg find | 63 | 64 | ## Build Pkgs 65 | A package is a basic organizational unit for your ROS2. 66 | 67 | ### Simple example to create pkg 68 | Steps in details to follow "how to create a hello world" C++ pkg in ROS 2 https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html. 69 | 70 | Step 1: create a hello world c++ pkg 71 | 72 | ```shell 73 | cd ros2_ws/src 74 | ros2 pkg create --build-type ament_cmake --node-name hello_node hello_package 75 | ``` 76 | we should see 77 | 78 | 79 | 80 | Step 2: build hello world pkg 81 | ```shell 82 | cd ros2_ws/ 83 | colcon build --packages-select hello_package 84 | ``` 85 | as 86 | 87 | 88 | 89 | Step 3: source for new pkg 90 | 91 | ```shell 92 | cd ros2_ws/ 93 | source install/local_setup.bash 94 | ``` 95 | 96 | 97 | Sourcing the local_setup of the overlay will only add the packages available in the overlay to your environment. setup sources the overlay as well as the underlay it was created in, allowing you to utilize both workspaces. 98 | 99 | So, sourcing your main ROS 2 installation’s setup and then the ros2_ws overlay’s local_setup, like you just did, is the same as just sourcing ros2_ws’s setup, because that includes the environment of its underlay. 100 | 101 | Step 4: run pkg 102 | ```shell 103 | ros2 run hello_package hello_node 104 | ``` 105 | 106 | 107 | 108 | Refereces: 109 | 1. ROS2 Basics #3 - Understanding ROS2 Packages and Workspace https://youtu.be/lN4_-l7FCWk. 110 | 2. ROS2 Tutorials #4: How to create a ROS2 Package for C++ [NEW], https://youtu.be/C2bKwFJ5HEY. 111 | 3. what is the use of --symlink-install in ROS2 colcon build?, https://answers.ros.org/question/371822/what-is-the-use-of-symlink-install-in-ros2-colcon-build/ 112 | 113 | 114 | ```html 115 | my_package/ 116 | CMakeLists.txt 117 | include/my_package/ 118 | package.xml 119 | src/ 120 | launch/ 121 | ``` 122 | where 123 | - CMakeLists.txt file that describes how to build the code within the package 124 | - include/ directory containing the public headers for the package 125 | - package.xml file containing meta information about the package 126 | - src directory containing the source code for the package 127 | 128 | ### CMakeLists for ament 129 | 130 | ```cmake 131 | cmake_minimum_required(VERSION 3.5) 132 | project(my_project) 133 | 134 | ament_package() 135 | ``` -------------------------------------------------------------------------------- /8_3_Examples_Pub_Subs.md: -------------------------------------------------------------------------------- 1 | ## 1 Create a simple node in pkg in ROS2 2 | 3 | ### 1.1 Write C++ scipts to creat a node 4 | ```c++ 5 | // 1. get h file for using c++ in ROS2 6 | #include "rclcpp/rclcpp.hpp" 7 | 8 | int main(int argc, char **argv) 9 | { 10 | // 2. initiate ROS2 communications with rclcpp::init() 11 | rclcpp::init(argc, argv); 12 | // 3. create a node 13 | auto node = std::make_shared("my_node_name"); 14 | // 3. make node spin 15 | rclcpp::spin(node); 16 | // 4. will stop ROS2 communications 17 | rclcpp::shutdown(); 18 | return 0; 19 | } 20 | ``` 21 | Two ways to create a node 22 | 1. ```auto node = std::make_shared("my_node_name");``` 23 | - It uses a shared pointer to create an instance of class ```rclcpp::Node```. The name of node is *my_node_name*. 24 | - It is a good choice for complex node classes as it can pass additional arguments to the constructor of the ```rclcpp::Node``` class. 25 | 2. ```auto node = rclcpp::Node::make_shared("my_node_name");``` 26 | - It calles a method of namespace ```rclcpp::Node``` to create a shared pointer to an instance. 27 | - It is an efficient way to creat a simple node. 28 | 29 | ### 1.2 Edit CMakeLists to build node** 30 | Since we use the binding, rclcpp, to interact with rcl, linking rclcpp to our node is necessary. 31 | 32 | 33 | ```cmake 34 | cmake_minimum_required(VERSION 3.5) 35 | project(hello_package) 36 | 37 | find_package(ament_cmake REQUIRED) 38 | 39 | #------------TO ADD------------# 40 | find_package(rclcpp REQUIRED) #like binding for rcl 41 | 42 | add_executable(hello_node src/hello_node.cpp) 43 | 44 | # link rclcpp for node 45 | ament_target_dependencies(hello_node rclcpp) 46 | # or target_link_libraries(hello_node rclcpp) 47 | # choose ament_target_dependencies if use overlay workspaces 48 | 49 | #------------TO ADD------------# 50 | 51 | install(TARGETS hello_node 52 | DESTINATION lib/${PROJECT_NAME}) 53 | 54 | ``` 55 | More detials about understanding cmake commands can be found in cmake tutorial of the author. Here we only explain key ideas of commands used here. Two main commands are 56 | - ```find_package(rclcpp REQUIRED)``` to locate lib rclcpp 57 | - ```ament_target_dependencies(hello_node rclcpp) ``` to link rclcpp with our node (exe). 58 | 59 | Referces 60 | 1. ament_cmake user documentation https://docs.ros.org/en/foxy/How-To-Guides/Ament-CMake-Documentation.html 61 | 62 | 63 | 64 | ### 1.3 Edit package.xml to add dependence 65 | rclcpp 66 | 67 | 68 | 69 | 70 | ### 1.4 Develop Launch file 71 | Three methods are available to create launch fiels: Python scripts, XML, YAML. 72 | 73 | XML files are used in ROS and no addiontal efforts are needed. 74 | 75 | Recall the strucre of a pkg 76 | ``` 77 | my_package/ 78 | CMakeLists.txt 79 | include/my_package/ 80 | package.xml 81 | src/ 82 | launch/ 83 | ``` 84 | A launch file with extention *name.launch.xml* must be created in folder launch. 85 | ```shell 86 | cd my_package/launch 87 | touch name.launch.xml 88 | ``` 89 | Edit name.launch.xml to launch an exe from a pkg as 90 | 91 | ```xml 92 | 93 | 94 | 95 | 96 | ``` 97 | **Note** 98 | Remember everything everying built will be installed, so we need to install the folder launch as well such that ros2 launch can find these files. 99 | 100 | In fact, when we can ros2 launch, ros2 run launch files in folder install, not in folder src. It means, everytime we modify launch files, we must rebuild the pkg. 101 | 102 | In CMakeLists.txt, we add install commands as 103 | 104 | ```cmake 105 | # install launch folder so ros2 launch can find launch files 106 | install(DIRECTORY 107 | launch 108 | DESTINATION share/${PROJECT_NAME}/ 109 | ) 110 | ``` 111 | 112 | It is also suggested to add ```ros2launch``` in package.xml. 113 | 114 | Here is how to call hello_node from hello_package with launch file say_hello.launch.xml. 115 | 116 | ```shell 117 | # go to ros2_ws 118 | cd ros2_ws 119 | # build pkg 120 | colcon build packages-select hello_package 121 | # source 122 | source install/local_setup.bash 123 | # call launch command 124 | ros2 launch hello_package say_hello.launch.xml 125 | ``` 126 | 127 | ### Reference 128 | 129 | 1. Create a ROS2 Cpp Package, https://roboticsbackend.com/create-a-ros2-cpp-package/ 130 | 2. Creating a launch file, https://docs.ros.org/en/foxy/Tutorials/Intermediate/Launch/Creating-Launch-Files.html 131 | 132 | 3. ROS2 - Create a Launch File with XML, https://youtu.be/Le1vx1_KUDQ 133 | 134 | 4. Write a Minimal ROS2 Cpp Node, https://roboticsbackend.com/write-minimal-ros2-cpp-node/ 135 | 136 | ## 2 Write a publisher in C++ 137 | s 138 | 139 | 140 | -------------------------------------------------------------------------------- /8_4_ROS2_Ardupilot_PX4.md: -------------------------------------------------------------------------------- 1 | ## 1 DDS for Ardupilot and PX4 2 | 3 | 4 | ## 2 Install libs and pkgs for Ardupilot 5 | Main reference is [ROS 2](https://ardupilot.org/dev/docs/ros2.html). 6 | 7 | 8 | https://ardupilot.org/dev/docs/ros2.html 9 | 10 | 11 | ### 2.2 mavros for ros2 12 | 13 | #### 2.2.1 run mavros2 14 | ```shell 15 | ros2 run mavros mavros_node --ros-args --param fcu_url:=udp://127.0.0.1:14551@14555 16 | ``` 17 | #### 2.2.2 docker for mavros2 18 | docker source [rockstarartist/mavros2](https://hub.docker.com/r/rockstarartist/mavros2) 19 | 20 | 1. get ardupilot in simulation 21 | ```shell 22 | sim_vehicle.py -v ArduCopter --console 23 | ``` 24 | 25 | 2. we can use mavros like 26 | ```shell 27 | roslaunch mavros apm.launch fcu_url:=udp://127.0.0.1:14551@14555 28 | ``` 29 | 30 | 3. use mavros2 in docker 31 | A docker image of mavros2 is created here [rockstarartist/mavros2](https://hub.docker.com/r/rockstarartist/mavros2). 32 | - build the container from that image 33 | ```shell 34 | docker pull rockstarartist/mavros2 35 | ``` 36 | - run mavros2 37 | ```shell 38 | docker run -v /dev/shm:/dev/shm --net=host rockstarartist/mavros2:humble-x86 ros2 run mavros mavros_node --ros-args -p fcu_url:=udp://:14561@localhost:5901 -p tgt_system:=1 39 | ``` 40 | [Executing commands on Pixhawk with ArduPilot via MAVROS2](https://github.com/mavlink/mavros/issues/1863) 41 | 42 | [How to use mavros2](https://github.com/mavlink/mavros/issues/1718) 43 | 44 | [How to install mavros inside the container with ros2 humble preinstalled](https://github.com/mavlink/mavros/issues/1864) 45 | 46 | [MAVROS2: RC-Override in ROS2 Foxy - Equivalent of rosrun mavros mavparam set SYSID_MYGCS 1](https://github.com/mavlink/mavros/issues/1866) 47 | 48 | [basic ros2 topic run](https://github.com/mavlink/mavros/issues/1902) 49 | 50 | 51 | 52 | 53 | 54 | read those 55 | 56 | https://github.com/mavlink/mavros/issues/815 57 | 58 | https://github.com/mavlink/mavros/issues/1469 59 | 60 | https://github.com/mavlink/mavros/issues/1423 61 | 62 | https://github.com/mavlink/mavros/issues/1423 63 | 64 | https://github.com/mavlink/mavros/issues/1564 65 | 66 | https://github.com/mavlink/mavros/issues/1793 67 | 68 | https://github.com/mavlink/mavros/issues/1582 69 | 70 | user docker 71 | https://github.com/mavlink/mavros/issues/1864 72 | 73 | https://hub.docker.com/r/rockstarartist/mavros2 74 | 75 | MAvlink 76 | https://zhuanlan.zhihu.com/p/415266156 77 | 78 | 79 | ## 3. 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-------------------------------------------------------------------------------- /9_Arduploit.md: -------------------------------------------------------------------------------- 1 | # Kiss Ardupilot 2 | Arduploit is a great choice for people tired of PX4. Of course, be a nice guy, I should cite someone telling the differences 3 | 4 |
5 | 7 |
8 | 9 | 10 | ## 2 Learn code of ArduCopter 11 | Ardupilot is mainly built on C++ and Class are used widely there. 12 | 13 | Source [Learning the ArduPilot Codebase](https://ardupilot.org/dev/docs/learning-the-ardupilot-codebase.html). 14 | [ArduCopter Flight Controllers](https://nrotella.github.io/journal/arducopter-flight-controllers.html) 15 | 16 | ```mermaid 17 | --- 18 | title: control diagram for mode stablize 19 | --- 20 | classDiagram 21 | Copter -- Mode 22 | ModeStabilize --|> Mode 23 | 24 | ModeStabilize -- AC_AttitudeControl 25 | AC_AttitudeControl_Multi --|> AC_AttitudeControl 26 | class Copter{ 27 | - void fast_loop() 28 | + motors_output() 29 | } 30 | 31 | class Mode{ 32 | - void update_flight_mode() 33 | + void get_pilot_desired_lean_angles() 34 | + float get_pilot_desired_yaw_rate() 35 | } 36 | 37 | class ModeStabilize{ 38 | - run() 39 | } 40 | 41 | class AC_AttitudeControl{ 42 | - void input_euler_angle_roll_pitch_euler_rate_yaw() 43 | + void attitude_controller_run_quat() 44 | - void control_monitor_update() 45 | } 46 | 47 | class AC_AttitudeControl_Multi{ 48 | + void rate_controller_run() 49 | + void update_throttle_gain_boost() 50 | + void update_throttle_rpy_mix() 51 | } 52 | 53 | ``` 54 | 55 | Explanation of methods 56 | + AC_AttitudeControl_Multi 57 | - ```rate_controller_run()```, AC_AttitudeControl_Multi.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp 58 | - ```update_throttle_rpy_mix()```, AC_AttitudeControl_Multi.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp 59 | - ```void update_throttle_gain_boost()``` 60 | + AC_AttitudeControl 61 | - attitude_controller_run_quat, AC_AttitudeControl.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp 62 | - input_euler_angle_roll_pitch_euler_rate_yaw, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp 63 | + AC_AttitudeControl_Multi 64 | - rate_controller_run(), https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp 65 | - set_throttle_out, AC_AttitudeControl_Multi, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp 66 | + ModeStabilize 67 | - run() 68 | + Motor 69 | - motor output https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/ArduCopter/motors.cpp 70 | - control_monitor_update(), ControlMonitor.cpp, https://github.com/ArduPilot/ardupilot/blob/Copter-4.2/libraries/AC_AttitudeControl/ControlMonitor.cpp. 71 | 72 | 73 | ### 2.1 Position control 74 | Source: 75 | - [Copter Position Control and Navigation](https://ardupilot.org/dev/docs/code-overview-copter-poscontrol-and-navigation.html) 76 | 77 | 78 | 79 | ### 2.3 Attitude control 80 | - [Copter Attitude Control](https://ardupilot.org/dev/docs/apmcopter-programming-attitude-control-2.html) 81 | 82 | ## 3 Guided mode and Guided_NoGPS mode 83 | Guided Mode allows us to control Ardupilot from an onboard computer autonoumously. This is usually essentially needed in research on drones. 84 | 85 | Ardupilot provides us with two guided modes: 86 | - Guided mode that requires a GPS and enables to send one of post, vel and acc comands and some combinations of them. 87 | - Guided_NoGPS mode that can take angle or body rate commands. 88 | 89 | Source 90 | - [ArduCopter Flight Controllers](https://nrotella.github.io/journal/arducopter-flight-controllers.html) 91 | -------------------------------------------------------------------------------- /Readme.md: -------------------------------------------------------------------------------- 1 | # Drone tutorial 2 | This tutorial aims to provide guides on building a drone from kits and ending at controlling drones in experiments. 3 | 4 | ## Main contents 5 | 6 | ### 1 Simulation 7 | 8 | #### 1.1 Simulation for a **single** quadrotor with PX4 and Ardupilot in ROS 9 | It explains how to install and configure PX4 or Ardupilot, ROS and ROS packages for ROS-Gazebo simulation. 10 | 11 | - Single drone with PX4 12 | - [Set up PX4, ROS and mavros](2_1_Simulation_ROS_PX4.md) shows how to simulate a **single** quadrotor with the **PX4** firmware in Gazebo. 13 | - [Run controller in ROS-Gazebo simulation for PX4](2_3_Simulation_PX4_Gazebo.md) demonstrates how to use a **controller** in ROS to controller a **single** quadrotor with the **PX4** firmware in Gazebo. 14 | 15 | - Single drone with Ardupilot 16 | - [Set up Ardupilot, ROS and mavros](2_2_Simulation_ROS_Ardupilot.md) explains the steps to simulate a **single** quadrotor with the **Ardupilot** firmware in Gazebo. 17 | - [Run controller in ROS-Gazebo simulation for Ardupilot] ##TODO 18 | 19 | 20 | #### 1.2 Simulation for **multiple** quadrotors with PX4 and Ardupilot in ROS ##TODO 21 | 22 | - Multiple drones with PX4 23 | - Multiple drones with Ardupilot 24 | 25 | 26 | ### 2 Experiment preparation 27 | 28 | #### 2.1 Assembly drones 29 | 1. [Build Holybro X500 kit](2_1_X500_Pixhawk5.md) 30 | 2. [Build TransTEC Lightning X Lite with Kakute ](2_2_LightningXLite_Kakute.md) 31 | - Ardupilot 32 | - Chassis TransTEC Lightning X Lite 33 | - Motor FPV 致盈EX2306 PLUS [site in Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.27.52b858176s1EdF&id=634695941707) 34 | - ESC: 35 | - [Tekko32 F4 Metal 4in1 65A ESC (65A)](https://holybro.com/collections/fpv-esc/products/tekko32-f4-metal-4in1-65a-esc-65a) 36 | - [HAKRC 3260A ESC BLHeli-32 ](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.32.193244beujIlvo&id=624599427940) 37 | - Autopilot: - Kakute H7 v1.3 [site in Taobo](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.28.56917484ySIhA5&id=684452325988) 38 | 3. [Build TransTEC Lightning X Lite with Aocoda](2_3_LightningXLite_Aocoda.md) 39 | - BetaFlight 40 | - Chassis TransTEC Lightning X Lite 41 | - Motor FPV 致盈EX2306 PLUS [site in Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.27.52b858176s1EdF&id=634695941707) 42 | - ESC: Aocoda 60A 4 in 1 [site in Taobao](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xw5sv5&id=682898024012) 43 | - Autopilot: - Aocoda RC H743 [site in Taobo](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xUOMZu&id=679995875558) 44 | 45 | #### 2.2 Configure and tune autopilot for manual flight 46 | 1. PX4 47 | 2. [Ardupilot](2_4_Config_Ardupilot.md) 48 | 3. [Betaflight](2_5_Config_BetaFlight.md) 49 | 50 | #### 2.3 Onboard computer setup 51 | 52 | It demonstrates steps to add an onboard computer to a drone. It includes how to power it within the power system of Pixhawk and how to enable ROS communication among it, Pixhawk and base station. 53 | 54 | 1. Set up onboard computer 55 | - [Set up Raspberry Pi as onboard computer](4_Experiment_OnboardComputer_Pi.md) 56 | 2. Enable communication between onboad computer and autopilot 57 | - [Set up communication between Pi and Pixhawk with PX4](4_Experiment_Communication_Pi_Pixhawk.md) 58 | 3. Enable communication between onboad computer and base station in ROS through WIFI 59 | - [Set up ROS communcation between onboard computer and base station through WIFI](4_Experiment_ROS_Communication_Pi_BaseStation.md) 60 | 61 | ### 3 Drone controllers 62 | 1. [Use mavros_controller](7_Mavros_Controller.md) 63 | It explains how the drone control package mavros_controller is designed and what to do to implement it in experiment. 64 | 65 | ### 4 Experiment in cases 66 | #### 4.1 Indoor flights with VIcon 67 | 1. [Set up and use Vicon system](6_Vicon_Setup_Use.md) 68 | It gives an idea of how to use a motion capture system for drone experiments. 69 | 70 | 71 | 72 | #### 4.2 Add functional payloads and sensors 73 | 1. [Add more devices to drone in experiment](5_Experiment_Hardware_Setup.md) 74 | It suggests what to do if more additional devices are to be added to a drone to extend its functions. 75 | 76 | ### 5 ROS2 for drones 77 | 1. [ROS2 and PX4](8_ROS2_PX4.md) 78 | It aims to move every drone techniques in ROS to ROS2. -------------------------------------------------------------------------------- /digraph prof {.rs: -------------------------------------------------------------------------------- 1 | digraph prof { 2 | fontname="Helvetica,Arial,sans-serif" 3 | node [fontname="Helvetica,Arial,sans-serif"] 4 | edge [fontname="Helvetica,Arial,sans-serif"] 5 | node [style=filled]; 6 | rankdir=LR; 7 | compound=true; 8 | // Model_Stablize 9 | subgraph cluster_0 { 10 | style=filled; 11 | color=lightgrey; 12 | node [style=filled,color=white]; 13 | Model_Stablize_run0[label="run()"] 14 | Model_Stablize_update_simple_mode0[label="update_simple_mode()"] 15 | Model_Stablize_run0 -> Model_Stablize_update_simple_mode0 16 | label = "Model_Stablize"; 17 | } 18 | 19 | // Copter 20 | subgraph cluster_1 { 21 | style=filled; 22 | color=lightgrey; 23 | node [style=filled,color=white]; 24 | Copter_update_simple_mode0[label="update_simple_mode()"] 25 | Copter_fast_loop[label="fast_loop()"] 26 | Copter_update_flight_mode[label="update_flight_mode()"] 27 | label = "Copter"; 28 | } 29 | 30 | Model_Stablize_run0 -> Copter_update_simple_mode0 31 | Copter_fast_loop -> Copter_update_flight_mode 32 | Copter_update_flight_mode -> Model_Stablize_run0 33 | Copter_fast_loop -> AC_AttitudeControl_Wulti_rate_controller_run 34 | 35 | // Mode 36 | subgraph cluster_2 { 37 | style=filled; 38 | color=lightgrey; 39 | node [style=filled,color=white]; 40 | Mode_get_pilot_desired_lean_angles[label="get_pilot_desired_lean_angles()"] 41 | Mode_get_pilot_desired_yaw_rate[label="get_pilot_desired_yaw_rate()"] 42 | label = "Mode"; 43 | } 44 | // 45 | Model_Stablize_run0 -> Mode_get_pilot_desired_lean_angles 46 | Model_Stablize_run0 -> Mode_get_pilot_desired_yaw_rate 47 | 48 | 49 | // AC_AttitudeControl 50 | subgraph cluster_3 { 51 | style=filled; 52 | color=lightgrey; 53 | node [style=filled,color=white]; 54 | AC_AttitudeControl_input_euler_angle_roll_pitch_euler_rate_yaw[label="input_euler_angle_roll_pitch_euler_rate_yaw()"] 55 | AC_AttitudeControl_attitude_controller_run_quat[label="attitude_controller_run_quat()"] 56 | label = "AC_AttitudeControl"; 57 | AC_AttitudeControl_input_euler_angle_roll_pitch_euler_rate_yaw->AC_AttitudeControl_attitude_controller_run_quat 58 | } 59 | // 60 | Model_Stablize_run0 -> AC_AttitudeControl_input_euler_angle_roll_pitch_euler_rate_yaw 61 | 62 | // AC_AttitudeControl_Wulti 63 | subgraph cluster_4 { 64 | style=filled; 65 | color=lightgrey; 66 | node [style=filled,color=white]; 67 | AC_AttitudeControl_Wulti_set_throttle_out[label="set_throttle_out()"] 68 | AC_AttitudeControl_Wulti_rate_controller_run[label="rate_controller_run()"] 69 | 70 | label = "AC_AttitudeControl_Wulti"; 71 | } 72 | Model_Stablize_run0 -> AC_AttitudeControl_Wulti_set_throttle_out 73 | 74 | 75 | } --------------------------------------------------------------------------------