Visual Servoing Platform  version 3.6.1 under development (2024-06-12)
testPixhawkDroneTakeoff.cpp

This code shows how to takeoff 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 - 2023 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 takeoff and land using mavsdk on
* 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 information 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;
}
auto drone = vpRobotMavsdk(argv[1]);
drone.setTakeOffAlt(1.);
drone.setVerbose(true);
drone.takeControl(); // Start off-board or guided mode
// Drone takeoff
if (!drone.takeOff()) {
std::cout << "Takeoff failed" << std::endl;
return EXIT_FAILURE;
}
// Get position in NED local frame after takeoff
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;
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;
std::cout << "Hold position for 4 sec" << std::endl;
drone.holdPosition();
vpTime::wait(4000);
// 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)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
vpTranslationVector getTranslationVector() const
static double deg(double rad)
Definition: vpMath.h:119
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:179
vpRowVector t() const
VISP_EXPORT int wait(double t0, double t)