borslap / iq_gnc

ROS package for GNC of Ardupilot drones

iq_gnc

This package hosts a collection of software designed to help drone developers make their application come to life. The code in this repo is complimented by the iq_tutorials repo, which explains how to set up your dev enviorment as well as teaches basic drone programming fundamentals.

Community Discord Server

Come be a part of the growing community of drone application developers! Join the the conversation in our discord.

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Guidance Navigation and Control Functions

gnc_function.hpp / py_gnc_functions.py

The intelligent quads gnc_functions are collection of high level functions to help make controlling your drone simple. You can find functions for interpreting state estimation, commanding waypoints, changing modes and more. The documentation for using these functions is shown below.

gnc_functions.hpp documentation

py_gnc_functions.py documentation

special thanks to Sahas-Ananth for translating the gnc_functions to python!

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Example Code (C++)

avoidance_sol.cpp

Example obstacle avoidance program utilizing the potential field method.

gnc_tutorial.cpp

Simple waypoint mission that commands a drone to fly a square pattern.

sr_sol.cpp

Simple search and rescue program that will fly a search pattern until yolo detects a person. This will trigger the drone to land to deliver the rescue supplies.

subscriber_sol.cpp

Example program showing how to use a ROS subscriber to take input into your drone's guidance node.

Python Version of Example code.

Related Repos

iq_tutorials - Repo hosting associated tutorials for iq_gnc

iq_sim - Repo hosing the simulation wolds designed to help develop drone gnc missions