Mavlink PX4 Quadrotor

1. Prerequisites

1.1. Use the latest version of the repository

It is expected that you clone the latest version of the repository and updated the submodules.

git clone https://github.com/ZilantRobotics/innopolis_vtol_dynamics.git --recursive

If you are not sure that your version is the latest, don't forget to:

git pull
git submodule update --init --recursive

1.2. Build the image

Build the docker image:

./scripts/docker.sh b

2. Run the docker container

./scripts/docker.sh px4_v1_12_0_mavlink_quadcopter

3. Run PX4 SITL flight stack

If you have ubuntu-20.04 with installed ROS-melodic and PX4-Autopilot software in used, you can just try to run roslaunch px4 px4.launch vehicle:=iris.

Here, it is recommended running the PX4 SITL flight stack in Docker.

The instruction is based on gist.

# 1. Download the Dockerfile:
mkdir PX4-Autopilot-Docker && cd PX4-Autopilot-Docker
wget https://gist.githubusercontent.com/PonomarevDA/1a600056a3c01cebae878b642dafe6ea/raw/Dockerfile

# 2. Build the Docker image:
docker build -t px4-sitl .

# 3. Run in interactive mode:
docker container run --rm -it --net=host px4-sitl /bin/bash

# 4. Then run launch file:
roslaunch px4 px4.launch vehicle:=iris

3. Run the 3D-simulator and choose the model

4. Fly

Control the vehicle with QGC.