Day 8 - Revision history

Michael at 08:30, 12 August 2018

2018-08-12T08:30:42Z

Michael at 08:24, 12 August 2018

2018-08-12T08:24:15Z

Michael: Created page with "#Reorganize px4-firmware repo: #* Forked sitl-Gazebo and added as submodule, in order to create bambi world and models. #Set up simulation to develop and test obstacle avoida..."

2018-08-12T08:19:13Z

Created page with "#Reorganize px4-firmware repo: #* Forked sitl-Gazebo and added as submodule, in order to create bambi world and models. #Set up simulation to develop and test obstacle avoida..."

New page

#Reorganize px4-firmware repo:
#* Forked sitl-Gazebo and added as submodule, in order to create bambi world and models.
#Set up simulation to develop and test obstacle avoidance:
#*Add <code>iris_rplidar</code> model in bambi world. N.B to make the lidar works properly we had to change rayGPU plugin to the standard ray plugin which uses CPU. Moreove we notice strange outputs when the drone is in flight (random short distances,less then 35cm, outputs) so we increase the minimum detected distance to 40cm which is a bit more than the iris frame dimension.

← Older revision		Revision as of 08:30, 12 August 2018
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	#*Add <code>iris_rplidar</code> model in bambi world. N.B to make the lidar works properly we had to change rayGPU plugin to the standard ray plugin which instead uses CPU. Moreove we notice strange outputs when the drone is in flight (random short distances,less then 35cm, outputs) so we increase the minimum detected distance to 40cm which is a bit more than the iris frame dimension.		#*Add <code>iris_rplidar</code> model in bambi world. N.B to make the lidar works properly we had to change rayGPU plugin to the standard ray plugin which instead uses CPU. Moreove we notice strange outputs when the drone is in flight (random short distances,less then 35cm, outputs) so we increase the minimum detected distance to 40cm which is a bit more than the iris frame dimension.
	#* Disabled down-facing lidar as suggested in https://github.com/PX4/Firmware/issues/9156 otherwise Gazebo crashes reporting segmentation fault.		#* Disabled down-facing lidar as suggested in https://github.com/PX4/Firmware/issues/9156 otherwise Gazebo crashes reporting segmentation fault.
		+	#Added first '''non-working''' implementation of '''Repulsive Force Field Obstacle Avoidance''' in px4 <code>mc_pose_control_main.cpp</code>:
		+	#*Subscribed to uORB topic <code>obstacle_distance</code> and injected obstacle repulsive thrust vector summing it with setpoint thrust computed by velocity controller. The resulting thrust is then sent to <code>mc_attitude_controller</code>.

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 #*  Forked sitl-Gazebo and added as submodule, in order to create bambi world and models.
 #Set up simulation to develop and test obstacle avoidance:
-#*Add <code>iris_rplidar</code> model in bambi world. N.B to make the lidar works properly we had to change rayGPU plugin to the standard ray plugin which uses CPU. Moreove we notice strange outputs when the drone is in flight (random short distances,less then 35cm, outputs) so we increase the minimum detected distance to 40cm which is a bit more than the iris frame dimension.
+#*Add <code>iris_rplidar</code> model in bambi world. N.B to make the lidar works properly we had to change rayGPU plugin to the standard ray plugin which instead uses CPU. Moreove we notice strange outputs when the drone is in flight (random short distances,less then 35cm, outputs) so we increase the minimum detected distance to 40cm which is a bit more than the iris frame dimension.