px4ctrl

A package to control multi-copters using PX4-Autopilot platform. Implement following functions:

1. Process EKF2 fusion from SLAM, Gazebo, MoCap, etc. Publish to /mavros/vision_pose/pose
2. Control drone to Arm, Takeoff, Offboard, Move, Hold, Land, Return, etc. Publish to /mavros/setpoint_raw/local
3. Process control command from path-planner, with format quadrotor_msgs::PositionCommand
4. Interact with a terminal to control drone, with format easondrone_msgs::ControlCommand

Visit this yuque doc for detailed information.

Installation

git clone https://github.com/HuaYuXiao/px4ctrl.git ~/easondrone_ws/module/px4ctrl
cd ~/easondrone_ws && catkin_make --source module/px4ctrl --build module/px4ctrl/build

Launch

roslaunch px4ctrl px4ctrl.launch

Acknowledgement

Thanks for following packages:

• Prometheus/prometheus_control
• XTDrone/control
• Fast-Drone-250/px4ctrl

Related docs:

• mavros wiki
• px4 user guide