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UAV shall accept motion planning commands, with low enough overhead to avoid obstacles - High #23

Open jiangh1 opened 10 years ago

jiangh1 commented 10 years ago

Description: Flight controller needs to be able to communicate with the navigation sensors and understand/interpret commands to move the copter in a fashion that avoids obstacles.

Dependencies: Navigation

Fit Criterion: When vehicle is powered on and navigation sensors are gathering and interpreting environment data.

Supporting Materials: http://mechatronics.ece.usu.edu/uav+water/MESA09-SUAVTA/DETC2009-86490.pdf

iamjboyd commented 10 years ago

MAV Link (Micro Aerial Vehicle Link)

http://qgroundcontrol.org/mavlink/start http://en.wikipedia.org/wiki/MAVLink

Mavlink seems like the standard FOSS way of transmitting these commands. They are packed tightly for low overhead and have implementations in the Ardupilot and Pixhawk. There are also libraries for easy integration with Linux, which from discussions with the Navigation Team, will likely be the platform of choice. The paradigm is that of a ground control station (GCS) and a vehicle; however, that seems adaptable to using an onboard navigation computer and the flight control system.