Quadrotor Navigation Stack communication with flight controller

asked 2019-05-16 10:04:52 -0600

jamesislost gravatar image

Hi there,

I'm working on building an autonomous quadrotor (SLAM, navigation, obstacle avoidance etc.) but I'm having trouble with getting the navigation stack to communicate effectively with the custom flight controller.

Is there any way to send the path plan from the on board computer to a flight controller in terms of xy coordinates? Probably using some kind of rosnode/topic?

What I'm thinking is that the flight controller compares current xy position with the position error ( = Ideal next measurement position - current position), and sends the signal to the motors to respond and the process iterates for time steps.

How might I achieve this? Or have you got any other suggestions for implementation? I'm just working in a 2D plane using a 1D lidar for altitude at the moment, I can't seem to find much info on 3D navigation.

Thanks for the help!

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