-
qpOASES
$ git clone https://github.com/coin-or/qpOASES.git $ cd path/to/qpOASES $ mkdir build && cd build $ cmake .. -DCMAKE_CXX_FLAGS=-fPIC $ sudo make install -
mavros-*
sudo apt-get install ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-msgs ros-${ROS_DISTRO}-mavros-extras sudo chmod +x ./resource/install_geographic.sh sudo ./resource/install_geographic.sh sudo usermod -a -G dialout <user> sudo usermod -a -G tty <user> sudo reboot
-
Mission : trajectory to be followed by a drone. Calling
trigger()will set triggerTime.Usage = 1. load trajectory. 2. Call trigger
- Takeoff : we use the yaw angle state when called takeoff service. Auto - triggered once mission uploaded. StartPose = curMavrosPose / Final pose = height in ui
- Lock : Set cur pose as cur desired pose (NOTE = /mavros pose). If mission exists, deactivates it.
- Land : starting pose = cur mavros pose / desired height = 0
rqt plugin (Ref)
First, create Qt application project with Qt creator inside of a project. All the UI (form file) and SLOT functions are composed only in the Qt project.
Include the files in CMakeList.txt under qtx_wrap_cpp and build first. That will produce header and source in your catkin_ws. That's all we need to auto-complete in CLion. Don't forget the below in CLion cmake build setting:
-DCATKIN_DEVEL_PREFIX:PATH=/home/jbs/catkin_ws/devel
# Build your package
catkin build px4_code2
# Check the plugins are loaded correctly
rosrun rqt_gui rqt_gui --force-discover
- PWM_ARM_* : for initial thrust when arming begins
- Gain tuning : for small drone such as f330 size, the gain tuning was required. See resource folder
- HAS_BARO = 0 : Disabling barometer was only available in 1.10.1. For the firmware, see resource folder. In the recent version, disabling barometer blocks EKF2 operation and QGC does not receive attitude info.
- Do not use Pixhwak 4 mini. It caused a lot of abrupt increase in thrust.
- Land detection