AutonomousFlight

Indoor autonomous flight using a downward facing camera and multiple apriltags for localization, together with a ring of 8 range sensors for obstacle avoidance.

Equipment used:

• MatrixVision Camera
• Odroid XU4
• Pixhawk Flight Controller with PX4 stack
• Teraranger Tower

Setting up new SD card for Odroid:

OS and Memory:

• From http://odroid.in/ubuntu_14.04lts/ download ubuntu-14.04.1lts-lubuntu-odroid-xu3-20150212.img.xz image file to your computer. Flash this image onto the SD card
• Power up Odroid with the SD card, and resize your root partition using Odroid Utility and reboot

ROS barebones:

• Download the ros-setup.sh script from the setup folder
• In the download directory, execute chmod a+x ./ros-setup.sh to make the script file executable
• Execute ./ros-setup.sh to install ROS Indigo barebones. This may take a few minutes

AutonomousFlight workspace:

• Download the AutonomousFlight.sh script from the setup folder
• In the download directory, execute chmod a+x ./AutonomousFlight.sh to make the script file executable
• Execute ./AutonomousFlight.sh to install all the required packages. This may take a few minutes