Visual Tracking on Pixhawk: Difference between revisions
From Rsewiki
No edit summary |
No edit summary |
||
Line 1: | Line 1: | ||
== System Overview == | == System Overview == | ||
The tracker consists of: | The tracker consists of: | ||
*A quarotor equipped | *A quarotor equipped with a Pixhawk, the <tt>Drone</tt> | ||
*A linux computer connected to a | *A linux computer connected to a | ||
*HD webcam, and | *HD webcam, and | ||
Line 7: | Line 7: | ||
*Software running on the linux computer for tracking the drone, and sending the position over the telemetry link | *Software running on the linux computer for tracking the drone, and sending the position over the telemetry link | ||
*Modified Pixhawk firmware with sensors added to the ekf2 module | *Modified Pixhawk firmware with sensors added to the ekf2 module | ||
== Installation Instructions == | |||
=== Pixhawk === | |||
==== Default Pixhawk Firmware === | |||
For instructions on setting up the required tool chain and building the standard Pixhawk firmware, | |||
follow the tutorial at [http://dev.px4.io/starting-installing.html] | |||
== Important notes == | |||
=== Changes in files not concerning the EKF === | |||
The following files have been changed, to enable Mikrokopter BL-CTRL motor drivers and ultrasonic rangefinder: | |||
<code>cmake/configs/nuttx_px4fmu-v2_default.cmake</code> | |||
in the process the <code>ekf2</code> module was added to the build list along with the useful tool <code>listener</code>. | |||
To free up some space, some unused modules were commented out of the build list. | |||
=== SD card and parameters === |
Revision as of 14:01, 22 January 2016
System Overview
The tracker consists of:
- A quarotor equipped with a Pixhawk, the Drone
- A linux computer connected to a
- HD webcam, and
- 3DR telemetry radio.
- Software running on the linux computer for tracking the drone, and sending the position over the telemetry link
- Modified Pixhawk firmware with sensors added to the ekf2 module
Installation Instructions
Pixhawk
= Default Pixhawk Firmware
For instructions on setting up the required tool chain and building the standard Pixhawk firmware, follow the tutorial at [1]
Important notes
Changes in files not concerning the EKF
The following files have been changed, to enable Mikrokopter BL-CTRL motor drivers and ultrasonic rangefinder:
cmake/configs/nuttx_px4fmu-v2_default.cmake
in the process the ekf2
module was added to the build list along with the useful tool listener
.
To free up some space, some unused modules were commented out of the build list.