Alphanumeric User Interface

Martin Molina edited this page Feb 22, 2018 · 1 revision

The alphanumeric interface is an efficient process that presents information about the robot behavior and can be used to teleoperate the robot.

This user interface is presented in a window terminal (with the tab called Shell User Interface) after launching Aerostack. You can see several parameters that give information about the situation of the drone and its state.

Shell User Interface

The operator can send different commands using the following keys:

Key Command
t take off: take off
y land: hover > land > stop controller
space bar emergency stop: emergency stop > stop controller
h hover: hover > stop controller
m move: move (set flying mode)
s set commands to zero: [open loop] hover, [closed loop] (non internal - with controller) hover
q move upwards: [open loop] upwards speed command; [speed, position control] move altitude reference upwards
a move downwards: same as before but downwards
z (yaw) turn counter-clockwise: [open loop] turn with speed command; [any controller] move yaw reference counter-clockwise
x (yaw) turn clockwise: same as before but clockwise
\ set yaw reference to 0 (look parallel to x-axis)
right arrow move right, or to[+]y_axis: [open loop] or [speed command] or [position command], ignored during trayectory control
left arrow move left: [open loop] or [speed command] or [position command], ignored during trayectory control
up arrow move frontwards; [open loop] or [speed command] or [position command], ignored during trayectory control
down arrow move backwards: [open loop] or [speed command] or [position command], ignored during trayectory control
j reset EKF: stop controller > reset EKF
k stop EKF: stop controller > stop EKF
l start EKF: start EKF and setInitDroneYaw
u reset controller
i stop controller: stop controller > drone_hover
o start controller: start EKF > start controller
7 start speed controller: if controller started > drone_move > start controller (speed)
8 start position controller: if controller started > drone_move > start controller (position)
9 start trajectory controller (3D quadrilateral) using rel_trajectory_ref channel
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