hetro_swarm

Snapdragon Flight Documentation/Interface

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These pages provide some information about the Snapdragon Flight™ platform (developer’s edition) including how to setup the build environment, interface with quadrotor_control and more.

User Guides:

• Tools & Resources
• Qualcomm Navigator User Guide (8x96)
  • Includes documentation for parameters in snav_params.xml.
• Qualcomm Navigator Developer Guide v1.2.53.1
  • Includes documentation for low level Snapdragon Navigator API.
• Guides on Intrinsyc - Needs Login.
• Qualcomm Flight Debug Connector Pin-out and Hardware User Guide
• Common FAQs are addressed in the forums.
• Another resource on using the SDF can be found here.

Our board setup is slightly different than the official documentation. Following instructions have been pooled together from above guides, forums, etc.

We have three hardware platforms available in the lab for use.

• Dragon Drone Development Kit DDK. Assembly Instructions.
• Dragonfly
• Tiercel

Board setup

Snapdragon Flight

VOXL Board

Flying with the flight board and DDK (platform).

Run the script as sudo. This automatically restarts snav, launches necessary nodes. Enter y after snav restarts.

sudo -s
./tmux_snav.sh

There are helper scripts for ground station computer that sets up ROS_MASTER_URI and launches necessary nodes. This assumes quadrotor_control and snavquad_interface is compiled in your laptop workspace. For example dragonfly4 platform Enter the vehicle number accordingly.

roscd snavquad_interface/scripts
./tmux_ground_station 4

There are helper scripts for recording bag file in the snavquad_interface/scripts/capture folder. On the mav tmux session, switch to the Aux tab, there should be a pane that already has the following keys. Just hit Enter to start recording the bag. If the mav has micro-SD card it will bag it to /media/sdcard, else to the home folder ~/.

roscd snavquad_interface/scripts/capture
./record/sh 4

Calibrating the cameras.

Calibrate

quadrotor_control

ROS packages for quadrotor control

Stacks include:

• kr_mav_manager: A manager for the quadrotor_control stack
• rqt_mav_manager: GUI interface for common kr_mav_manager functions
• interfaces: Translates kr_mav_msgs/SO3Command to corresponding robots interface.
• kr_quadrotor_simulator: Simple quadrotor dynamics simulator
• kr_mav_msgs: Common msgs used across packages
• kr_mav_controllers: Position controllers
• trackers: Different trackers under kr_trackers, and kr_trackers_manager

Example use cases:

The multi robot examples uses following packages.

• kr_multi_mav_manager
• mrsl_quadrotor
• waypoint_navigation_tool

Running single robot with the included simple simulator

Running multiple robots with the included simple simulator

MATLAB interface with simple simulator

Running with Gazebo

Running multiple robots with Gazebo

Block Diagram

The following block diagram shows how the packages in the repo fit together.

Further detailed breakdown of the blocks can be found in the PPT