A rospy controller program for onboard control of a PX4 MAV
The code contained here is the result of a Master Thesis on Autonomous MAV Construction by Artyom Maxim.
https://www.artyommaxim.com/aerial-construction
A robotic theodolite was used to provide a localization source to this controller, which in turn fed it into PX4's internal Local Position Estimator.
The following package was used to control the Leica MS60 Total Station:
https://github.com/art-mx/leica_ros_sph
Rhinoceros3D CAD software, ROSGH and BENGESHT were used to generate and upload flightpath data.
For more information check here:
https://www.artyommaxim.com/aerial-construction-description
https://www.researchgate.net/publication/320491203_UAV_Guidance_with_Robotic_Total_Station_for_Architectural_Fabrication_Processes
https://www.researchgate.net/publication/320505267_MAV_Assisted_Fabrication_Strategy_for_Large_Scale_Fiber_Composite_Structures