Authors: Zeryab Moussaoui, Yacine Ben Ameur , Houssem Meghnouj, Nabil Tchoulak , Merouane Guettache
23 Mars 2019: Submit the V1 code according to Alpha-Pilot deadline.
The aim of this code is to complete the selection of the Lockheed Martin's Drone Race "Alpha Pilot" (https://www.herox.com/alphapilot/78-test-3) but can be used for other drone race contests.
The Alpha Pilot qualification evaluates team's skills in both Control Engineering and Real-time programming, by controlling an autonomous drone on a provided simulator, FlightGoggles :
Drobot V1 is a simple cascaded high levels position and attitude controllers, sensing pose from both IMU and camera :
Tested on both :
- GPU 1050Ti , 16 Go of RAM
- AWS g3s.xlarge
- Ubuntu 16.04.5 LTS
- ROS Kinetic
- Open CV 3.4
- CUDA drivers
- FlightGoggles
Download the repository and execute :
./install.bash && source catkin_ws/devel/setup.bash
Execute ROS node :
rosrun flightgoggles scorer.sh
- Position and Attitude controllers in Controller.py
- Position Estimation in Stereo-SLAM.cpp
Incoming !
Incoming !