Flight Control

This is a package to control UAV by communicating with flight controller by ROS.

MAVROS should be installed for PX4!

Note

• motive - Control UAV under motion capture system

  • Input(from mocap): /vrpn_client_node/RigidBody*/pose
  • Output(to PX4): /mavros/setpoint_velocity/cmd_vel
  • Output(vir): /desired_position /desired_velocity
  • Features: Keyboard control and circular trajectory are also included

• vio - Control UAV under SLAM

  • Input(from VIO): /vins_estimator/imu_propagate
  • Input(from LIO): /estimator/imu_propagate
  • Output(to PX4): /mavros/setpoint_velocity/cmd_vel
  • Output(vir): /desired_position /desired_velocity
  • Features: Keyboard control and QP trajectory are also included

• vio_trajectory - Control UAV under SLAM + Search-Based Planning

  • Input(from VIO): /vins_estimator/imu_propagate
  • Input(from LIO): /estimator/imu_propagate
  • Input(from Search-Based Planning): /result
  • Output(to PX4): /mavros/setpoint_velocity/cmd_vel
  • Output(vir): /desired_position /desired_velocity
  • Features: Keyboard control, circular trajectory and Search-Based planning are included

Learning

Authors

• Johnson