An abstraction layer between the MRS UAV System and a UAV flight controller.

⚠️ Attention please: This README is needs work.

The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.

This nodes provides an interface between any UAV flight controller (and any Simulator) and the core of the MRS UAV System. On one side, the HW API provides a unified ROS interfaces for the core as if it was a generic flight controller. On the other side, the communication with a particular hardware (or simulator) can be orchestrated using whatever is required.

https://ctu-mrs.github.io/mrs_uav_hw_api/

The control output can be any of the following:

• 3D Position + Heading
• 3D body-frame Velocity + Heading
• 3D body-frame Velocity + Heading rate
• 3D body-frame Acceleration + Heading
• 3D body-frame Acceleration + Heading rate
• 3D world-frame Attitude + Throttle
• body-frame Attitude rate + Throttle
• Control groups
• individual Actuators' throttle

TODO

• PX4 Plugin
• CoppeliaSim Plugin
• MRS Simulator Plugin
• DJI Tello