Flying Robot Project

This repo is a primary and basic reimplementation of some of the functions in Crazyflie-firmware.

Project Structure

• Dynamics: 2D and 3D Dynamics Simulation for Crazyflie ("X" configuration).

  • Multirotor2D: Simulation code for a 2D Multirotor model.
  • Multirotor3D: Simulation code for a 3D Multirotor model with Euler Integration only.
  • Multirotor3D_simple: Simulation code for a 3D Multirotor model with Euler Integration and RK4 Integration.

• Geometric_Controller: Implementation of lee-controller in Rust, based on the Dynamics code.

  • Multirotor3D_Controller: Simulation code for lee-controller
  • app_hello_rs_math: Reimplementation of lee-controller in Rust using OutofTreeController api in Crazyflie-firmware.
  • autonomous_sequence_high_level.py: Guide the real drone to follow a figure-8 trajectory with rust lee-controller.

• Estimator_MEKF:

  • StateEstimation_MEKF: Simulation code for MEKF (Multiplicative Extended Kalman Filter).
  • app_hello_rs_estimator: Reimplementation of MEKF in Rust using OutofTreeEstimator api in Crazyflie-firmware.

• Motion_Planning:

  • MP_Diff_Flat: Simulation code for generating control input (thrust and torque) by using differential flatness.
  • MP_Splines: Generate reference trajectory by using polynomial splines and cvxpy.

Dependencies

Virtual Environment

All of the dependencies including the Crazyflie Client (interface for flashing and real-flight status monitoring) can be installed in a conda virtual environment and I highly recommend you to do that.

Setting Up Rust

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
rustup update

Meshcat

pip install meshcat

Then try the following command to check whether Meshcat is successfully installed:

meshcat-server --open

Clone and Build

First clone the repo and the submodules:

git clone --recurse-submodules https://github.com/Vincentive1232/Flying_Robot_Project.git

Then config and build the crazyflie-firmware:

cd Flying_Robot_Project/shared/crazyflie-firmware
make cf2_defconfig
make

Now we can choose a subproject and compile it. Take the MEKF onboard estimator as an example:

cd Estimator_MEKF
cd app_hello_rs_estimator
make

Flash (only for real flight)

If your Crazyflie is ready to be flashed, follow the instructions to flash the OutofTreeEstimator / OutofTreeController to the hardware.