This is the inital unranged project code of the first "Zhi Sheng Kong Tian" UAV competition held by Air Force Engineering University
Input the key of the osdk in the Inboard-SDK-ROS package.
The main code is in Onboard-SDK-ROS/dji_sdk_demo/src/my_sdk.cpp
I give my hardware architecture as follows:
| Item | Type | Note |
|---|---|---|
| Flight controller | DJI A3 | |
| Remote control | DJI Datalink3 | |
| Lidar | Hokuyo UST20LX | It is much more efficient to use lidar to search for windows than camera |
| Camera | MVBlueFoxMLC200 | |
| Camera | Intel Realsense D435i | This is can provide you with depth and imu information if you need |
| Onboard computer | NUC8i7 | |
| Onboard computer | Nvidia Jetson TX2 | Can provide you with the GPU ability |
| Aircraft | DH410 | A 410mm quadrotor and the mtors are from the TMOTOR |
| Battery | ACE 4S 30C 5300mAh |
Cartographer: Use to locate the UAV in SE(2)
VINS-Mono:Use to locate the UAV in SE(3)
The version of the Onboard SDK used in this project is 3.6