This mono-repo contains all supporting applications and documentation for the Indiflight project.
Also, all code and instructions to reproduce the results from 2 related conference papers, and the simulation data in the reslated dataset are found here. See the #References section of this README.
The repository constains simulation code for multirotor flight with Indiflight, including data decoding and analysis tools, as well as configuration files and dockerfiles to reproduce the conference paper results.
Additionally, a utility-bundle is provided to operate automatic flight for Indiflight multicopters with a raspberry-pi companion computer.
See the individual README.mds for more details.
.
├── Documentation/
│ ├── ... # Work in Progress
│ ├── Drones # Info on drone builds and setups
│ └── Papers # Contains info to reproduce the outputs of our papers
├── Groundstation/ # apps to control and write companion computer apps
├── LogAnalysis/ # Tools for decoding and looking at logs
├── Simulation/ # Soft/Hardware-in-the-loop simulation in python
├── LICENSE
└── README.md| Data | Version | Notes |
|---|---|---|
| 2024-08-27 | 0.0.1 | First Release |
| 2024-09-02 | 0.0.2/iros_imav_2024 | Improved README for reproduction of these papers. |
- Till Blaha (
@tblaha,
0009-0006-0881-1002, Delft University of Technology, t.m.blaha - @ - tudelft.nl )
- Robin Ferede @robinferede (Delft University of Technology)
- Stavrow Bahnam @sbahnam (Delft University of Technology)
0009-0006-0881-1002Documentation/Papers/IROS2024/README.md
T. M. Blaha, E. J. J. Smeur, and B. D. W. Remes, “Control of Unknown Quadrotors from a Single Throw,” 2024. Accepted at IROS 2024Documentation/Papers/IMAV2024/README.md
T. M. Blaha, E. J. J. Smeur, B. D. W. Remes and C. C. de Visser “Flying a Quadrotor with Unknown Actuators and Sensor Configuration,” 2024. Accepted at IMAV 2024
T. M. Blaha, E. J. J. Smeur, and B. D. W. Remes "Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller" 2024. 4TU.ResearchData repository.
For reproduction of the dataset, and the figures in the papers, checkout the iros_imav_2024 tag of this repo and visit the Documentation/Papers directory.
A snapshot of this repository in the state used to generate the data in the above mentioned papers can be found here:
T. M. Blaha "Multirotor HIL/SIL Simulation and additional tools for INDIflight" 2024. 4TU.ResearchData repository.
The contents of this repository, with the exception of submodules, are licensed
under a GNU General Public License v3.0 (see LICENSE file).
Technische Universiteit Delft hereby disclaims all copyright interest in the program “Indiflight Support” (one line description of the content or function) written by the Author(s).
Henri Werij, Dean of the Faculty of Aerospace Engineering
© 2024, The Indiflight Support Authors
Flight controller firmware based on Betaflight. It includes a completely new controller stack, and interfacing extensions to make it useful for flight control research.
Our fork supports configuring the new modes in Indiflight and adapted the visualisation to the new coordinate frames.
Caveats: INDI page doesnt work yet; loading firmware online doesnt work
Our fork has some additional display features and fixes issues that allow parsing the huge Indiflight logs
A fork of the Raspberry Pi OS that comes with many pre-installed utilities that make a good companion computer.
The Cross-Compiler in the Groundstation/ directory can be used to push software to a Raspberry Pi Zero 2W running this.
Minimalist messaging protocol used to communicate with the flight controller. Simpler, less overhead, and easier to include in other software than MSP.