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This project forked from prisma-lab/px4_tilting_multicopters

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Customization of PX4 to introduce the tilting multirotors airframes class

License: BSD 3-Clause "New" or "Revised" License

Shell 1.35% C++ 48.45% Python 5.25% Perl 0.04% C 39.14% Groovy 0.20% MATLAB 0.57% Nix 0.01% EmberScript 0.47% Makefile 0.09% CMake 4.42% GDB 0.01% Dockerfile 0.01% Jinja 0.02%

px4_tilting_multicopters's Introduction

A PX4 Integrated Framework for Modeling and Controlling Multicopters with Tiltable Rotors

abstract This repo presents a general framework for multicopters equipped with tiltable rotors (tilting multicopters). Differently from classical flat multicopters, tilting multicopters can be fully actuated systems able to decouple position and attitude control. The proposed framework has been trans-parently integrated into the widely used PX4 control stack, an open-source controller for ground and aerial systems, to fully exploit its high-level interfaces and functionalities and, at the same time, simplify the creation of new devices with tilting propellers. Simulation tools have been also added to the PX4 simulation framework, based on its Software-In-The-Loop (SITL) system and a set of simulated experiments in a dynamic robotic simulator have been carried out to demonstrate the effectiveness of this system.

Article

The description of the firmware architecture, the integration with the standard PX4 control stack, as well as its integration with a PixHawk autopilot is described in the following article:

Salvatore Marcellini, Jonathan Cacace, Vincenzo Lippiello, "A PX4 Integrated Framework for Modeling and Controlling Multicopters with Tiltable Rotors", submitted to the 2023 International Conference on Unmanned Aircraft System (ICUAS โ€™23) June 6 โ€“ 9, 2023 Warsaw, Poland

This work is currently under review

Video

https://youtu.be/N61GHj4W_II

How to use

Clone the repository with submodules
git clone --recurse-submodule https://github.com/prisma-lab/PX4_tilting_multicopters.git

Run the simulation

For omnidirectional tilting drone
make px4_sitl gazebo_NDT_tilting

For one-tilt tilting drone
make px4_sitl gazebo_baby_k

px4_tilting_multicopters's People

Contributors

lorenzmeier avatar dagar avatar bkueng avatar julianoes avatar thomasgubler avatar priseborough avatar maetugr avatar drton avatar davids5 avatar px4dev avatar mcharleb avatar jgoppert avatar bresch avatar tsc21 avatar andreasantener avatar romanbapst avatar stifael avatar kamilritz avatar px4buildbot avatar sfuhrer avatar kd0aij avatar mhkabir avatar sjwilks avatar pavel-kirienko avatar sanderux avatar mcsauder avatar mrivi avatar jaeyoung-lim avatar carlolsson avatar hamishwillee avatar

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