Flight

Setting up the drone

• config file for wifi and vicon
• vrpn client installation

Pre Take-off

PX4 Parameters

• EKF2_AID_MASK = 88 [vision position fusion, vision yaw fusion, rotate external vision]
• EKF2_HGT_MODE = Vision

Check the IP adress if working in a new network

ifconfig | grep 'inet 1*'

Change .bashrc file in host computer!!

cd
nano .bashrc

Roscore running at TX2, correct IP if applicable

#export ROS_MASTER_URI=http://localhost:11311/
export ROS_MASTER_URI=http://192.168.0.227:11311/

source .bashrc

Take-off

SSH into TX2

ssh nvidia@192.168.0.227

Terminal 1 - Mavros communication with PX4

cd ~/catkin_ws
source devel/setup.bash
roslaunch state_machine px4_usb.launch

Terminal 2 - Motion capture system

cd ~/catkin_ws
source devel/setup.bash
roslaunch state_machine vicon.launch

Terminal 3 - Actuator control for arms

cd ~/actuator_ws
source devel/setup.bash
roslaunch actuator_control sloth_dynamixel.launch

Terminal 4 - Start mission

cd ~/catkin_ws
source devel/setup.bash
roslaunch state_machine flight_state_machine.launch

Terminal 5 - Repeat the last trajectory

rosservice call /planner/trigger 1 0 0 0 0.1

Outdoor Flight

PX4 Parameters

• EKF2_AID_MASK = 129 [use GPS, GPS yaw fusion]
• EKF2_HGT_MODE = GPS

ssh nvidia@192.168.0.101 

Actuator Control

ssh nvidia@192.168.0.227

Terminal 1

roslaunch state_machine px4_usb.launch

Terminal 2

cd ~/actuator_ws
source devel/setup.bash
roslaunch actuator_control sloth_dynamixel.launch

Manual control: SB switch Position UP

SC switch UP = IDLE,
SC switch MIDDLE = FLIGHT,
SC switch DOWN = CLOSE,

Automated Control: SB switch Position DOWN

rostopic pub /actuator_control/state std_msgs/Int32 1

State of the arms

IDLE = 0,
FLIGHT = 1,
PREPARE = 2,
CLOSE = 3,
RELEASE = 4,