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Welcome to the PRGFlyt wiki!

What is PRGFlyt?

PRGFlyt is an AI based indoor quadrotor autonomy framework for accomplishing various navigation and interaction tasks designed for both research and pedagogical purposes. It is developed by the Perception and Robotics Group at the University of Maryland, College Park. PRGFlyt leverages the awesome work of the open-source and open-hardware community with the goal of giving back to the community. This framework implements a lot of state-of-the art research papers and also provides both hardware and software setup guidelines for various platforms. Common hardware and software issues are also presented so that it can save time for everyone.

Authors/Maintainers

• Nitin J. Sanket (nitinsan at terpmail dot umd dot edu), Fourth Year PhD Candidate
• Chahat Deep Singh (chahat at terpmail dot umd dot edu), Second Year PhD Student

Hardware Naming Conventions

All our hardware platforms are named after dog breeds with the names representing the size of the quadrotor. The following tables provides the name and size/weight of the quadrotor. Click on the name for visiting the corresponding page.

Name	Motor to Motor Length	Max. Weight
PRGWhippet	100 - 160 mm	300 g
PRGCorgi	180 - 210 mm	700 g
PRGHusky	240 - 360 mm	1300 g
PRGLabrador	450 - 500 mm	2000 g
PRGMastiff	>= 650 mm	3500 g

Note that each quadrotor can be built with different autopilot softwares and each software has it's own advantages and disadvantages. The following table presents the suffix used for the particular autopilot software.

Autopilot Software	Name Suffix
Ardupilot	Alpha or $$\alpha$$
Betaflight	Beta or $$\beta$$
Parrot Bebop 2	Gamma or $$\gamma$$

Tested Hardware

Flight Controllers (FCUs)
Hardware Name	Firmware Version	Working				Sourcing Link	Price in USD
		Stabilize	AltHold	FlowHold	Loiter
Holybro Kakute F7 AIO V1.0	ArduCopter 3.6.11	☑	☑	☑ (Force Source)	☑ (Force Source)	Link	49.00
Holybro Kakute F7 AIO V1.5	ArduCopter 3.6.11	☑	☑	☑ (Force Source)	☑ (Force Source)	Link	49.00
Holybro Kakute F7 Mini	ArduCopter 3.6.11	☑	☒	☒	☒	Link	43.00
mRo Pixhawk (Bare-bones)	ArduCopter 3.6.11	☑	☑	☑ (Needs Compass)	☑ (Needs Compass)	Link	129.90
mRo PixRacer R15	ArduCopter 3.6.11	☑	☑	☑ (Needs Compass)	☑ (Needs Compass)	Link	99.00
Holybro kakute F4 AIO V2	ArduCopter 3.6.11	☑	☒ (Issues at high loop rate, alt gains or dips)	☐	☐	Link	40.00

Electronic Speed Controllers (ESCs)
Hardware Name	Firmware Version	Working	Best Protocol	Sourcing Link	Price in USD
Lumenier 35A 4 In 1	3.6.7 - 4.0.0.rc5-dev	☑	DShot 1200	Link	59.99
DYS F20A 4 In 1	3.6.7 - 4.0.0.rc5-dev	☒ (Buggy)	DShot 600	Link	38.99

Sensors
Hardware Name	Ardupilot Compatibility (Firmware Version)	Working	Sourcing Link	Price in USD	Drivers/Documentation/Setup Guide
Benewake TFmini	☑ (3.6.7 - 4.0.0.rc5-dev)	☑ (UART Only)	Link	44.95	Sensor Specs
Hobbypower PX4Flow v1.3.1	☑ (3.6.7 - 4.0.0.rc5-dev)	☑ (UART Only)	Link	44.95	Sensor Datasheet
OpenMV M7/H7 Camera	☑ (4.0.0.rc5-dev)	☑ (I2C Only)	Link	65.00	Sensor Specs, Sensor Datasheet
FPV Optical Flow Sensor	☑ (3.6.11 - 4.0.0.rc5-dev)	☑ (UART Only)	Link	12.89	Sensor Specs

Learning about Quadrotors

Please watch the videos from this link to learn about quadrotor autonomy.

Citation

If you like our work and use it in any of your projects please cite us as

@misc{prgflyt,
         author = {Nitin J. Sanket, Chahat Deep Singh, Cornelia Ferm\"uller, Yiannis Aloimonos},
         title = {PRGFlyt: AI based indoor quadrotor autonomy framework for navigation and interaction tasks},
         year = {2019},
         howpublished = {\url{https://github.com/prgumd/PRGFlyt/wiki}}
    }

Citations for each algorithm is given in the particular repository.

Acknowledgments

PRGFlyt would not have been possible without the awesome open-source and open-hardware community, especially the ardupilot stack, betaflight stack, px4flow, openMV, Jevois camera and bebop_autonomy.

License