MSL Quadrotor Documentation

Quadrotor aerial robot developed at Multi-Robot Systems Lab.

https://raw.githubusercontent.com/StanfordMSL/msl_quad/master/Hardware/quadrotor_rendering.jpg

This repository contains CAD files, and code for low-level quadrotor controls and trajectory following through the mavros interface.

For high-level trajectory planning and generation, please refer to our QuadsManip repository.

Installation

Please review our Quick Start Guide to get started.

Features

  • Provides an extensible framework for interfacing with PX4 based flight controllers.
  • Provides a ROS waypoint following interface.
  • Integrated in-flight safety checks with autoland on failures.

Software Versions

  • px4 firmware: v1.7.3
  • mavros: 0.23 or later
  • mavlink: 2018.2.2 or later

Demo Videos

https://img.youtube.com/vi/yH0KMWm9cNU/0.jpg https://img.youtube.com/vi/INr92G_qOls/0.jpg

Contributing

  • Contribution is very welcome. Please fork the project and submit pull requests. New code will be reviewed before merging into the codebase.
  • If contributing to documentation, this cheatsheet can help if you are unfamiliar with Markdown or RST. Make sure to check out our full style guide.

Support

Request help, report bugs, or request features by opening issues on our Github

License

The project is licensed under the MIT license.