Aerial Robotics IITK
  • Introduction
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        • PX4 Toolchain Setup
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      • Installing Ground Control Station
        • QGroundControl
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      • ArduPilot Setup on Docker
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    • How to Write a ROS Package
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      • Node Handles, Parameters, and Topics
      • Coding Standards
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      • Odroid XU4 Setup
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        • Enable Offboard Mode in PX4
      • Writing a UDev rule
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  • Concepts
    • Quaternions
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      • Grassfire Algorithm
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      • A* Algorithm
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    • Model Predictive Control
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      • Sample SysId Launch Files
      • Running MPC
        • MPC with Rotors
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        • MPC with ROS
      • References
    • PID Controller
      • Introduction
      • Basic Theory
  • Estimation
    • Visual-Inertial Odometry
      • Hardware Requirements
      • Visual-Inertial Sensing
      • DIYing a VI-Sensor
    • Setup with VICON
    • Odometry from pose data
  • Computer Vision
    • Intel RealSense D435i setup for ROS Noetic
    • IntelRealSense D435i Calibration
    • Camera Calibration
    • ArUco ROS
  • Machine Learning
    • Datasets
  • Hardware Integration
    • Configuring Radio Telemetry
    • Setting up RTK + GPS
    • Integration of Sensors with PixHawk
      • Connecting Lidar-lite through I2C
    • Connections
    • Setting up Offboard Mission
      • Setting up Companion Computer
        • Raspberry Pi 4B Setup
        • Jetson TX2 Setup
      • Communication Setup
      • Guided mode
    • Miscellaneous
  • Resources
    • Open-source algorithms and resources
    • Courses
      • State Space Modelling of a Multirotor
      • Path Planning Lecture
      • Introduction to AI in Robotics
      • RRT, RRT* and RRT*- Path Planning Algorithms
    • Useful Reading Links
      • Aerial Robotics
      • Books
      • Computer Vision and Image Processing
      • Courses on AI and Robotics
      • Deep Neural Network
      • Dynamics and Controls system
      • Motion Planning
      • Probabilistic Robotics
      • Programming
      • Robotics Hardware
      • Miscellaneous and Awesome
    • Online Purchase websites
  • Competitions
    • Inter-IIT TechMeet 8.0
    • Inter-IIT TechMeet 9.0
    • IMAV 2019, Madrid, Spain
    • Inter-IIT TechMeet 10.0
    • Inter-IIT TechMeet 11.0
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  • Message Flows
  • Example

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  1. Hardware Integration
  2. Setting up Offboard Mission

Guided mode

Description about Guided mode of ArduPilot

PreviousCommunication SetupNextMiscellaneous

Last updated 1 year ago

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In this mode the position, velocity or attitude reference / target / setpoint is provided by a companion computer connected via serial cable and MAVLink. The offboard setpoint can be provided by API like .

Normal mainstream Ardupilot Firmware uses this message flow and Runs a high-level PID Controller:

Message Flows

ROS msg name

msg type

uses

mavros/local_position/odom

nav_msgs::Odometry

Contains local odometry data

mavros/setpoint_position/local

geometry_msgs::PoseStamped

Used in offboard mode for postion setpoint

Example

The instructions for assembling the “essential components” of Copter on Pixhawk and other autopilots. The instructions for adding other hardware are covered in .

Optional Hardware
MAVROS