Multirotors

Research in Andrew Bennett's Lab. Using Multirotors to conduct environmental exploration, sensing, and sampling missions.

Projects

This code repository contains the mission files and the general architecture for several mission types which can be executed with drones, namely:

• Breath Condensate Collection from a Cetacean
• Wireless Tracker Tagging for a large Cetacean
• Photogrammetry for Animal Studies
• Point-of-Interest Data Collection
• Environmental Exploration
• Waypoint Navigation
• Sense and Avoid of Unfriendly Multirotors

Each of these missions is designed in a mission file. This mission file is then executed by a generic autonomy structure based upon State Configured Layer Control (SCLC) which controls the actions of the drone.

Running this Code

Still under construction

RC override:

All computer control can be overridden by switching ch. 6 on the transmitter to a value greater than 1500.

keyboard controls:

m = stabilize (sort of manual) l = loiter o = auto r = arm t = disarm p = open planner

joystick controls:

specific to joystick and not finalized yet