testPixhawkDronePositionAbsoluteControl.cpp

This code shows how to takeoff, fly to the corners of a 1.5 m size square and land a drone equipped with a Pixhawk connected to a Jetson TX2 that runs this test using ViSP. The drone is localized thanks to Qualisys Mocap. Communication between the Jetson and the Pixhawk is based on Mavlink using MAVSDK 3rd party.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simple example to demonstrate how to control in position using mavsdk
 * a drone equipped with a Pixhawk connected to a Jetson TX2.
 */
 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
// Check if std:c++17 or higher
#if defined(VISP_HAVE_MAVSDK) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
 
#include <visp3/robot/vpRobotMavsdk.h>
 
void usage(const std::string &bin_name)
{
  std::cerr << "Usage : " << bin_name << " <connection information>\n"
    << "Connection URL format should be :\n"
    << "  - For TCP : tcp://[server_host][:server_port]\n"
    << "  - For UDP : udp://[bind_host][:bind_port]\n"
    << "  - For Serial : serial:///path/to/serial/dev[:baudrate]\n"
    << "For example, to connect to the simulator use URL: udp://:14540\n";
}
 
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  if (argc != 2) {
    usage(argv[0]);
    return EXIT_SUCCESS;
  }
 
  double takeoff_alt = 1.;
 
  auto drone = vpRobotMavsdk(argv[1]);
  drone.setTakeOffAlt(takeoff_alt);
  drone.setVerbose(true);
 
  if (!drone.takeOff()) {
    std::cout << "Takeoff failed" << std::endl;
    return EXIT_FAILURE;
  }
 
  drone.takeControl(); // Start PX4 offboard
 
  // Get position
  float ned_north, ned_east, ned_down, ned_yaw;
  drone.getPosition(ned_north, ned_east, ned_down, ned_yaw);
  std::cout << "Vehicle position in NED frame: " << ned_north << " " << ned_east << " " << ned_down << " [m] and "
    << vpMath::deg(ned_yaw) << " [deg]" << std::endl;
 
  vpHomogeneousMatrix ned_M_frd;
  drone.getPosition(ned_M_frd);
  vpRxyzVector rxyz(ned_M_frd.getRotationMatrix());
  std::cout << "Vehicle position in NED frame: " << ned_M_frd.getTranslationVector().t() << " [m] and "
    << vpMath::deg(rxyz).t() << " [deg]" << std::endl;
 
// Set position in NED frame
  drone.setPositioningIncertitude(0.10, vpMath::rad(5.));
 
  drone.setPosition(0.0, 1.0, ned_down, 0.0);  // East
  drone.setPosition(1.0, 0.0, ned_down, 0.0);  // North
  drone.setPosition(0.0, -1.0, ned_down, 0.0); // West
  drone.setPosition(-1.0, 0.0, ned_down, 0.0); // South
 
  // Land drone
  drone.land();
 
  return EXIT_SUCCESS;
}
 
#else
 
int main()
{
#ifndef VISP_HAVE_MAVSDK
  std::cout << "\nThis example requires mavsdk library. You should install it, configure and rebuid ViSP.\n"
    << std::endl;
#endif
#if !((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
  std::cout
    << "\nThis example requires at least cxx17. You should enable cxx17 during ViSP configuration with cmake and "
    "rebuild ViSP.\n"
    << std::endl;
#endif
  return EXIT_SUCCESS;
}
 
#endif // #if defined(VISP_HAVE_MAVSDK)