Skip to content

Roadmap

  • Verify drone instrumentation:
    • Install OS - Jetpack 5
    • Install ROS and setup workspace
    • Setup the VRPN ROS package
    • Setup the MAVROS package
    • Verify communication between MAVROS and the Pixhawk
    • Install the ROS control stack
    • Verify communication between the ROS nodes and the Pixhawk
    • Setup and test QGroundControl
    • Test QGC with the telemetry radio
    • Calibrate the flight controller
  • Verify drone sanity flight (manual mode, at ISR-Tagus and/or Cybaer-lab):
    • Gazebo simulation with the mission algorithm running on the onboard computer
    • Indoor power on (no blades)
    • Outdoor power on with blades (see if Pixhawk controller gains need to be changed)
  • Range test
  • Manual flight with data acquisition and ground monitoring
  • Dummy weight lifting tests (see if Pixhawk controller gains need to be changed) (no onboard computer installed) - create thrust curve.
  • PixHawk autonomous mission mode trials:
    • Takeoff, hover, land (see if controller gains need to be changed)
    • Typical mission for the controllers to be tested
    • Off-board controller(s) running but not controlling vehicle (collected data used afterwards to see response of off-board controllers)
  • First off-board waypoint simple controller, no MPC, Guassian and/or GM;
  • Online off-board MPC mission for PirePuma algorithms;
  • Repeat previous trials with improved missions or algorithms.