Welcome to BWSI Autonomous Air Vehicle Racing’s documentation!

Course Agenda:

• BWSI’s Autonomous Air Vehicle Racing
  • Course Overview
  • BWSI @ Home
  • Beaver Works Summer Institute
• 2021 Course Syllabus
  • Instructors
  • Teaching Assistants
  • Week 1: Quadrotor Basics
  • Week 2: Computer Vision
  • Week 3: Planning and Control
  • Week 4: Challenge Week
• Module 0: UAV Environment Setup
  • Instructional Content Access
  • Intel RTF Drone Setup
  • Laptop Setup
  • Troubleshooting
• Module 1: Hands-On Quadrotors
  • Unit 0: Introductions
  • Unit 1: Quadrotor Hands-On
  • Unit 2: Embedded Drone Architecture
  • Unit 3: Localization
  • Challenge 1: Position Control Navigation
• Module 2: Computer Vision
  • Unit 1: A Survey of Computer Vision
  • Unit 2: Kernels, Edges, Thresholds
  • Unit 3: Regression, Line Parameterization
  • Unit 4: Color Segmentation
  • Unit 5: Integration with Quadrotor
  • Unit 6: Advanced Topics
• Module 3: Estimation & Control
  • Unit 1: Kinematics & Dynamics
  • Challenge 2: Aerial Choreography
  • Unit 2: State Estimation
  • Unit 3: Feedback Control
  • Unit 4: Motion Planning
• Module 4: Racing Challenges
  • Final Challenge Details
  • Unit 1: Planning
  • Unit 2: Writing the Final Challenge

BWSI @ Home:

• Course Overview
• Passport Curriculum
• Final Project

Practicals:

• Project Workflow
  • Working with Bash
  • Working with Git
  • Laptop Repository Setup
  • Testing Repository Setup
• Bugged Zip Sims Repo
  • Running the code
• Student Drone Setup
  • Physical Setup
  • Logging In
  • Software Setup
• Calibrating Intel RTF Drones
  • Step 1: Connect to the Drone
  • Step 2: Calibration Setup
  • Step 3: Compass Calibration
  • Step 4: Accelerometer Calibration
  • Step 5: Gyroscope and Level Horizon Calibration
  • Note: Level Horizon calibration is critical for proper drone operation.
  • Step 6: Verifying Calibration
  • Step 7: Radio Calibration (RC Controller)
  • Flight Modes
  • You are now finished with calibration!
• Flight Log Analysis
  • Analyze Pre-recorded Flight
  • Analyze Your Flight
  • Document and Push
• Architecture Concept Review
  • Videos
  • Problem Set
• Intro to ROS
  • Homework:
  • ROS Concepts
  • Practice
• Communication Pipeline
  • Talker - Listener
  • MAVROS
  • Advanced Topics: uORB
• Accessing Video Streams
  • Using VLC to stream over RTSP
  • Using ROS to view image topics
  • Further reading:
• Inspecting Sensor Feeds
  • Measuring Translational Movement (Accelerometer)
  • Measuring Angular Motion (Gyroscope)
  • Trying out Optical Flow
• Hovering with Optical Flow
  • Step 1: Install Libraries
  • Step 2: Start Optical Flow Services
  • Step 3: Verify Services
  • Step 4: Test Flight
• Coordinate Frames
  • Coordinate Frame Practice
  • Further Reading
• Downward Camera Analysis + Line Detection
  • Integrating opencv and ROS images
  • Intro to rosbags
  • Getting your bag off the drone for analysis
  • Playing your bag file
• Custom ROS Message for Line Params
  • Building the message with catkin
  • Modifying talker.py and listener.py to use custom messages
  • Writing detector.py
• OFFBOARD Mode & Open Loop Control
  • Step 1: Complete Control Script
  • Step 2: Setup for Test Flight
  • Step 3: Test Flight
  • Step 4: Reference Frame Intuition
• Yaw-Only Color Tracker
• Line Following
  • Breaking Down Line Following
  • Setup for Test Flight
  • Test Flight
• AR Obstacle Avoidance
  • Challenge
  • Launching Obstacle Avoidance
  • Code overview
  • Debugging
• Tello Passport
  • Unit 1 - Connection and Position Control
  • Unit 2 - Tello Computer Vision
  • Unit 3 - Tello Control

Advanced Topics:

• Vim Text Editor
  • GUI-based and Terminal-based Editors
  • Vim Tutorial
• Exploring PX4 Firmware
• Kalman Filters
• Simulation Challenge
  • Challenge Description
  • Challenge Phases
• Advanced linefollowing ideas
  • Convert P controller errors to meters
  • Increase speed if the track is straight
  • Add a D gain
  • Linear regression problems

Supplemental Material:

• Team Roles
  • Pilot in Command
  • Ground Commander
  • Software Developer
  • Hardware Specialist
  • Research Specialist
• Safety Checklist
  • Flight Prep
  • Manual Flight
  • Battery Handling & Charging
  • Emergency Procedures
• Connecting to the drone with VSCode
• AR tag generation
  • Script for AR tag generation
• Glossary

Indices and tables

• Index

• Module Index

• Search Page