Week 3-4. Improving teleoperation
Continuing with the project, this weeks aimed to improve the radio control and complete the documentation of the proccess.
Week 3
Once the teleoperation functionality was working properly, we planned to improve it, adding a video screen (editing the SDF model file and including the pluging) that is responsible for showing a front view inside the drone, and also added some buttons for the drone to perform some simple tasks:
- Takeoff
- Land
- Turn specific angles/move specific distance
- Stop
Also, I modified the slider GUI to make it easy to use. Instead of moving around the XYZ axes, I developed a system relative to the Iris drone, as seen in the video below:
Week 4
Finally, this week goal was to end this teleoperation mini-project.
I implemented a new method in charge of landing, via services, using a custom msg to communicate between the radio_control and the PX4 controller. Here is a little summary:
uint8 cmd
- IDLE = 0
- TAKEOFF = 1
- LAND = 2
- POSITION = 3
- VELOCITY = 4
I also included all the bitacora inside github pages posts, and I reorganiced the code to stay clean and ready to use (adding some usefull comments inside).