Foldable quad for ROS integration experiments

I’m shortly going to work integrating the OpenPilot telemetry with ROS.

Main (long term) focus is indoor positioning and navigation.

This is a quick mockup of the craft that will be used. Plates are going to be rebuilt to better host everything

 

The reference platform  is made by

  • OpenPilot Revolution flight controller;
  • OpenPilot GPSV9 with integrated magnetometer;
  • Control link using Revolution on board OPLink;
  • ODroid U3 sbc hosting Ubuntu server 14.04 with ROS Indigo;
  • WIFI card TL-WN722N (that uses an external antenna connected with a RPSMA);
  • USB Web Cam, initially used for optical flow.
  • Telemetry link using WIFI connection;
  • Connection between Revolution and Odroid using USB.
  • Sonar sensor for precise agl measurement

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