MRS UAV HW API (Docs)

An abstraction layer between the MRS UAV System and a UAV flight controller.

⚠️ Attention please: This README is needs work.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

What does it do?

This nodes provides an interface between any UAV flight controller (and any Simulator) and the core of the MRS UAV System. On one side, the HW API provides a unified ROS interfaces for the core as if it was a generic flight controller. On the other side, the communication with a particular hardware (or simulator) can be orchestrated using whatever is required.

Documentation

https://ctu-mrs.github.io/mrs_uav_hw_api/

Control output from the MRS UAV System

The control output can be any of the following:

• 3D Position + Heading
• 3D body-frame Velocity + Heading
• 3D body-frame Velocity + Heading rate
• 3D body-frame Acceleration + Heading
• 3D body-frame Acceleration + Heading rate
• 3D world-frame Attitude + Throttle
• body-frame Attitude rate + Throttle
• Control groups
• individual Actuators' throttle

Data provided to the MRS UAV System

TODO

Example HW API Plugins

• PX4 Plugin
• CoppeliaSim Plugin
• MRS Simulator Plugin
• DJI Tello