Flight controller for multiple quadrotors carrying a tethered payload

The controller runs on the Nvida Jeston Nano on each quadrotor. The command is sent by ground station from the ground station desktop.

Installation

1. Install the mavros packgae by Binary installation

   Please ref to: https://github.com/mavlink/mavros

   If you has install the mavros package by source code. Plaese deleat it firstly.

2. Create a new ros space called "px4_ws" in your home folder

   mkdir -p ~/px4_ws/src

   cd ~/px4_ws/src

   catkin_init_workspace

   Please source manually, open a new terminal

   gedit .bashrc

   Add the path source /home/$(your computer name)/px4_ws/devel/setup.bash in the end of the bashrc.txt file

3. Git clone the px4_command package

   cd ~/px4_ws/src

   download from gitlab repository

   git clone http://gitlab.amovauto.com/amovlab/px4_command

   download from github repository

   git clone https://github.com/potato77/px4_command

   cd ..

   catkin_make

Coordinate frames

Here we are using ENU frames.

MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes

Overal node structure

Quadrotor fleet

Run the code on experiment drones

Run the software-in-the-loop (SITL) simulation