Transcription
PX4 in STEM education:How we taught a thousandstudents how to program drones
Origins (2013)WEB PAGECOPTEREXPRESS.COM
Pizza delivery inSyktyvkar (2014)WEB PAGECOPTEREXPRESS.COM
Pizza delivery inSyktyvkar (2014)WEB PAGECOPTEREXPRESS.COM
Autonomous deliveryin Samara (2016)WEB PAGECOPTEREXPRESS.COM
Autonomous deliveryin Samara (2016)WEB PAGECOPTEREXPRESS.COM
WEB PAGECOPTEREXPRESS.COM
Autonomousmonitoring UASVideo of chargingstationWEB PAGECOPTEREXPRESS.COM
Drones ineducationWEB PAGECOPTEREXPRESS.COM
Approaches toeducational drones RTF drones modular drones kits of common partsWEB PAGECOPTEREXPRESS.COM
Problems ofrobotics educationWEB PAGECOPTEREXPRESS.COMRobotics is a young field. It makes it so interesting,but for the same reason it's hard to learn.Alternatives: make something simple hide complexity make awesome documentation
WEB PAGECOPTEREXPRESS.COMvue.js docsROS docs
How to teachrobotics?Alternatives: make something simple hide complexity make awesome documentationWEB PAGECOPTEREXPRESS.COM
Our drone kitWEB PAGECOPTEREXPRESS.COM
Why “CLEVER”?WEB PAGECOPTEREXPRESS.COMКлевер /ˈklʲevʲir/ – clover
CLEVER 4 kitWEB PAGECOPTEREXPRESS.COM
Hardware & softwareWEB PAGECOPTEREXPRESS.COMElectric motor4 pcs.Propellers (couple)4 pcs.Speed controller ESC4 pcs.FramekitPower distributionboard with ingle-boardcomputerBatteries2 pcs.Machinevision cameraChargerAssembly manual,Training MaterialsLight-emittingdiode ingsimulator
Why PX4?WEB PAGECOPTEREXPRESS.COMAutopilot software requirements: flexibility necessary features (low-level control, indoorflights) not just firmware, but the full stack (groundcontrol, log analysing) simplicity stability community
Documentationclever.copterexpress.com/enWEB PAGECOPTEREXPRESS.COM
AdoptionWEB PAGECOPTEREXPRESS.COM
Path of studentWEB PAGECOPTEREXPRESS.COM
School school camps physics: maybe design & engineering: yes computer science: YES PLEASE WEWANNA CODE THE DRONEWEB PAGECOPTEREXPRESS.COM
School:benefits with dronesWEB PAGECOPTEREXPRESS.COM
CollegeWEB PAGECOPTEREXPRESS.COM«UAS Operating» educational standard for colleges
College:contests & competitionsWEB PAGECOPTEREXPRESS.COM
University:science & labsDrone as: a tool for education a platform for researchSubjects: estimation theory control theory computer vision, SLAM, ML WEB PAGECOPTEREXPRESS.COM
IROS 2019WEB PAGECOPTEREXPRESS.COM
IROS 2019WEB PAGECOPTEREXPRESS.COM
CommunityWEB PAGECOPTEREXPRESS.COM
TeamWEB PAGECOPTEREXPRESS.COM
Courses forteachers in RussiaWEB PAGECOPTEREXPRESS.COM
Courses forteachers in ChinaWEB PAGECOPTEREXPRESS.COM
SalesWEB PAGECOPTEREXPRESS.COMCLEVER 4AMOUNTSOLDCLEVER 3CLEVER 22000CLEVER 1kits1243967214kits20162017kitskits20182019YEAR
WEB PAGECOPTEREXPRESS.COMHow does open sourceimpact business?
Russian market ofeducational dronesCOEXClever 455 %GeoscanPioneer26 %copter.spaceZhu-Zha10 %EdcomEdDrone5%MAIFilin3%DroneshubAlfa1%WEB PAGECOPTEREXPRESS.COM
WEB PAGECOPTEREXPRESS.COMSoftware frameworkgoals
ArchitecturalApproachLibrary based (DroneKit) Easier to understand Install with simple pip installWEB PAGECOPTEREXPRESS.COMIPC based (ROS/MAVROS) Introspection & Debugging Visualization Logging Multiple nodes can access the samedata User program doesn’t start the entiresystem Different programming languages Transparently distributed
Positioning system GPS Motion Capture Onboard camera basedWEB PAGECOPTEREXPRESS.COM
Onboard camerabased navigationFiducial markers(ArUco)Optical flowWEB PAGECOPTEREXPRESS.COM
WEB PAGECOPTEREXPRESS.COMFlying in OFFBOARD
Raw MAVROSWEB PAGECOPTEREXPRESS.COMimport rospyfrom geometry msgs.msg import PoseStampedfrom mavros msgs.srv import CommandBool, SetModerospy.init node('flight')arming rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)set mode rospy.ServiceProxy('/mavros/set mode', SetMode)pos sp pub rospy.Publisher('mavros/setpoint position/local', PoseStamped, queue size 1)lpos Nonedef pose callback(msg):global lposlpos msgrospy.Subscriber('/mavros/local position/pose', PoseStamped, pose callback)pos sp PoseStamped()pos sp.header.frame id 'map'pos sp.pose.orientation.w 1def publish setpoint(event):pos sp.header.stamp rospy.get rostime()pos sp pub.publish(pos sp)rospy.Timer(rospy.Duration(0.1), publish setpoint)# wait for local positionwhile lpos is None:rospy.sleep(0.1)# take off to 3 meterspos sp.pose lpos.posepos sp.pose.position.z 3rospy.sleep(1)set mode(base mode 0, custom mode 'OFFBOARD')rospy.sleep(1)arming(True)rospy.spin()
WEB PAGECOPTEREXPRESS.COMsimple offboard
Project templateWEB PAGECOPTEREXPRESS.COMimport rospyfrom clever import srvfrom std srvs.srv import Triggerrospy.init node('flight')get telemetry rospy.ServiceProxy('get telemetry', srv.GetTelemetry)navigate rospy.ServiceProxy('navigate', srv.Navigate)navigate global rospy.ServiceProxy('navigate global', srv.NavigateGlobal)set position rospy.ServiceProxy('set position', srv.SetPosition)set velocity rospy.ServiceProxy('set velocity', srv.SetVelocity)set attitude rospy.ServiceProxy('set attitude', srv.SetAttitude)set rates rospy.ServiceProxy('set rates', srv.SetRates)land rospy.ServiceProxy('land', Trigger)
Take OffWEB PAGECOPTEREXPRESS.COMnavigate(x 0, y 0, z 1, speed 0.5, frame id 'body', auto arm True)
Body FrameWEB PAGECOPTEREXPRESS.COM
Usage from BashWEB PAGECOPTEREXPRESS.COM
WEB PAGECOPTEREXPRESS.COMnavigate(x 0, y 2, z 0, speed 0.5, frame id 'body')
WEB PAGECOPTEREXPRESS.COMnavigate(x 0, y -2, z 0, speed 0.5, frame id 'body')
WEB PAGECOPTEREXPRESS.COMland()
WEB PAGECOPTEREXPRESS.COMfor i in range(2):navigate(x 0, y 0, z 0.8, speed 1, auto arm True, frame id 'body')rospy.sleep(4)navigate(x 0, y 2, z 0, speed 2, frame id 'body')rospy.sleep(4)navigate(x 0, y 0, z 1, speed 2, frame id 'body')rospy.sleep(4)navigate(x 0, y -2, z 0, speed 2, frame id 'body')rospy.sleep(4)navigate(x 0, y 0, z -1, speed 2, frame id 'body')rospy.sleep(4)
WEB PAGECOPTEREXPRESS.COMnavigate(x 0, y 0, z 1, frame id 'aruco 107')
WEB PAGECOPTEREXPRESS.COMnavigate(x 0, y 0, z 1, frame id 'aruco 225')
WEB PAGECOPTEREXPRESS.COMVPEVision Position Estimation
WEB PAGECOPTEREXPRESS.COMnavigate(x 0, y 0, z 1.5, speed 1, auto arm True, frame id 'body')rospy.sleep(8)navigate(x 0, y 2.56, z 1.5, speed 3, yaw 0, frame id 'aruco map')rospy.sleep(8)navigate(x 0, y 1.28, z 1.5, speed 1, yaw 0, frame id 'aruco map')rospy.sleep(8)land()
WEB PAGECOPTEREXPRESS.COMdef vertical circle():RADIUS 0.75 # mSPEED 0.5 # rad / sstart get telemetry(frame id 'aruco map')start stamp rospy.get rostime()r rospy.Rate(10)while not rospy.is shutdown():angle (rospy.get rostime() - start stamp).to sec() * SPEEDy start.y math.sin(angle) * RADIUSz start.z math.cos(angle) * RADIUSset position(x 0, y y, z z, frame id 'aruco map')if angle math.radians(720):breakr.sleep()
/get telemetryInput frame idOutput connectedarmedmodex, y, zlat, lonvx, vy, vzpitchrollyawpitch rateroll rateyaw ratevoltagecell voltageWEB PAGECOPTEREXPRESS.COM
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Lower level control/set velocity /set attitude /set rates WEB PAGECOPTEREXPRESS.COM
Flipdef flip():start get telemetry()set rates(thrust 1)rospy.sleep(0.2)WEB PAGECOPTEREXPRESS.COM# memorize starting position# bump upset rates(roll rate 30, thrust 0.2)while True:telem get telemetry()if -math.pi telem.roll -0.2:breakset position(x start.x, y start.y, z start.z, yaw start.yaw)# finish flip
FlipWEB PAGECOPTEREXPRESS.COM
WEB PAGECOPTEREXPRESS.COMRaspberry Pi Image
Building image QEMU based builder Configured network ROS Kinetic OpenCV Periphery drivers CLEVER software package Additional software TestsWEB PAGECOPTEREXPRESS.COM
Web interfaceWEB PAGECOPTEREXPRESS.COM
ButterflyWEB PAGECOPTEREXPRESS.COM
Web Video ServerWEB PAGECOPTEREXPRESS.COM
CIWEB PAGECOPTEREXPRESS.COM
WEB ess/clever
ProjectsWEB PAGECOPTEREXPRESS.COM
Drone showWEB PAGECOPTEREXPRESS.COM
Drone showWEB PAGECOPTEREXPRESS.COM
WarehouseinspectionWEB PAGECOPTEREXPRESS.COM
Spherical protectionWEB PAGECOPTEREXPRESS.COM
Spherical protectionWEB PAGECOPTEREXPRESS.COM
Spherical protectionWEB PAGECOPTEREXPRESS.COM
Spherical protectionWEB PAGECOPTEREXPRESS.COM
Drone warsWEB PAGECOPTEREXPRESS.COM
CopterHackWEB PAGECOPTEREXPRESS.COM
How we taught a thousandstudents how to program dronesWEB PAGECOPTEREXPRESS.COM
WEB PAGECOPTEREXPRESS.COMAndrei KorigodskiiAlexey ShlykovOleg KalachevCTOCOOLead k@copterexpress.com
Assembly manual, Training Materials . system Different programming languages Transparently distributed. WEB PAGE Positioning system COPTEREXPRESS.COM GPS Motion Capture Onboard camera based . . pos_sp PoseStamped() pos_sp.header.frame_id 'map' pos_sp.pose.orientation.w 1
