Software Setup

This section describes in detail all the procedures used to install and configure the software that runs on the vehicle's hardware components. Namely, the OS installation and Setup, the ROS and MAVROS installation, the PX4 Configuration Checklist, the Drone Control Stack Setup and the Drone Console.

graph LR
  A(MOCAP) -- UDP --> B(ROUTER)
  B -- UDP --> C(vrpn_client_ros)
  subgraph Onboard Computer
    C -- ROSTOPIC --- D(MAVROS)
    G("Main Algorithm (Mission)") -- ROSTOPIC --- D
  end
  subgraph Flight Computer
    D -- MAVLINK --- E(PX4-Autopilot)
  end
  B -- "UDP (gcs_url)" --- D
  subgraph Companion Computer
    F(QGroundControl)
  end
  F -- "UDP (fcu_url)" --- B
  F-. "TELEM RADIO" .- E