I am excited to announce that we are releasing our full quadrotor control framework as open-source software based on the Robot Operating System (ROS). This control framework has been used for the past 6 years in my lab (RPG). It has served as the basis for over 500 public, live flight demonstrations and over 50 scientific publications from my lab. This framework allows you to easily control quadrotors accurately even during very agile maneuvers by compensating for rotor drag effects. It allows you to interface with state-of-the art FPV racing hardware to build and control very powerful and agile quadrotors as we did in our most recent work (check out the publications below and the project webpage). This work will also be presented at this year’s IEEE International Conference on Robotics and Automation (ICRA18), in Brisbane. You will find further information on our project webpage, including link to the code, papers, and video demonstrations: https://lnkd.in/dMaqdrv
The code is released under an MIT License. Installation instructions and details are described in the related Wiki. The framework implements control methods for accurate agile quadrotor flight by compensating for rotor drag effects as presented in our papers:
M. Faessler, A. Franchi, and D. Scaramuzza, “Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories,” IEEE Robot. Autom. Lett., vol. 3, no. 2, pp. 620–626, Apr. 2018.
M. Faessler, D. Falanga, and D. Scaramuzza, “Thrust mixing, saturation, and body-rate control for accurate aggressive quadrotor flight,” IEEE Robot. Autom. Lett., vol. 2, no. 2, pp. 476–482, Apr. 2017.