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StarlingUAS / ProjectStarling

BRL Flight Arena Infrastructure 2.0
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Physical Go/ESTOP button for Flight Arena #100

Closed mhl787156 closed 2 years ago

mhl787156 commented 2 years ago

After discussion of safety cases with Arthur, it may be wise to build a physical Go and ESTOP button which is connected to the flight arena server. This is to avoid the issues with a software control panel where the mouse might be in the wrong place, the wrong window is selected and so on, causing issues if a response is required during operation.

Suggestion is for an Arduino in a box connected via a long USB cable to the server. There are two (possibly 3?) buttons on the box. The arduino is running ROSSERIAL

  1. Large ESTOP which sends messages down /emergency_stop
  2. Large GO button which sends messages down /mission_start
  3. (?) Mission Abort/Hover/Loiter/Land button which either sends message down /mission_abort OR directly puts the drone into AUTO.LOITER or Ardupilot equivalent mode.

Suggestions for parts and usage welcome! @rob-clarke @arthurrichards77

mhl787156 commented 2 years ago

image

This panel was found by the BRL technicians, I have bought a teensy so that it is compatible with micro-ros, the method of doing 'ros2' in hardware. The buttons can match what is specified above. Waiting on arrival and installation before further Multi-drone testing.

Note: 'ESTOP' (apparently it cannot be called and estop officially as that is always hardware)