Matrice100_dev

Control repository for the DJI Matrice 100 UAV.

Start order

IMPORTANT: Start controller before trajectory

Spline *******************************

For spline the controller does not need to be started before trajectory.

Start with flag to trajectory launch: spline:=true

• Press Yellow button
• Move points for spline (new point right joystich button, prev point left joystick button)
• Press green button (A) and it should fly!

After the above to fly a new spline:

• Press "back" (left button)
• Move points in spline
• Press "start" (right button)

Test flight

• Press green button, make sure it stabilize on altitude. Change adjust_thrust argument to controller launch iof needed
• Press D-pad up to enable yaw control
• Press yellow button to start full trajectory flying
• Move goal positon and press start button to fly to a new goal

Joystick

• A: Auto

• B: Manual

• X: Send one position at the time for a trajectory

• Y: Send whoöe trajectory in one message

• D-pad left: Yaw - 30 Degree in simulator

• D-pad right: Yaw + 30 Degree in simulator

pycontroller.py

Roscore (backpack)**************************:

roscore

Joystick (backpack)**********************:

rosrun joy joy_node __ns:=/drone

Vicon (backpack):

roslaunch lrs_vicon mat2.launch

Simulator:

roslaunch drone_dev sim.launch ns:=/dji2 use_joy:=true

Trajectory**************************:

roslaunch drone_dev trajectory.launch x:=30.0 y:=5.0 z:=2.0 dt:=0.02 trajectory:=true speed:=1.0 spline:=true

Controller**************************:

roslaunch drone_dev controller.launch vicon:=false djisim:=true dt:=0.02 sync:=true

or

roslaunch drone_dev controller.launch djisim:=true

or

roslaunch drone_dev controller.launch vicon:=true

Rviz (on backpack)**********************************:

rviz -d lrs_ws/src/Matrice100_dev/test.rviz

If using hardware simulator on mat2 or flying with GPS*******************:

roslaunch lrs_launch sdk_nuc.launch m600:=false ns:=/dji2 use_joy:=false

roslaunch lrs_launch location_granso.launch
rosrun lrs_dji djiconnect _rate:=50 _vicon:=false _publish_pose:=true _publish_world_position:=true __ns:=/dji2

If using hardware on mat2 and vicon for position:

rosrun lrs_dji djiconnect _rate:=50 _vicon:=true _publish_pose:=false _publish_world_position:=false __ns:=/dji2

Old Drone Dev

Roscore:

roscore

Joystick:

rosrun joy joy_node __ns:=/drone

Planner:

roslaunch drone_dev planner_node.launch

Controller:

roslaunch drone_dev matrice100_dev_node.launch

Simulator:

roslaunch drone_dev sim.launch ns:=/dji2

Rviz:

rviz -d lrs_ws/src/Matrice100_dev/test.rviz