PX4 in STEM education: How we taught a thousand students how to program … · 2019-06-29 · How we taught a thousand students how to program drones. WEB PAGE Origins (2013) COPTEREXPRESS.COM

PX4 in STEM education: How we taught a thousand

students how to program drones

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C O P T E R E X P R E S S . C O MOrigins (2013)

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C O P T E R E X P R E S S . C O MPizza delivery in Syktyvkar (2014)

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C O P T E R E X P R E S S . C O MPizza delivery in Syktyvkar (2014)

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C O P T E R E X P R E S S . C O MAutonomous delivery in Samara (2016)

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C O P T E R E X P R E S S . C O MAutonomous delivery in Samara (2016)

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C O P T E R E X P R E S S . C O M

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Video of charging station

Autonomous monitoring UAS

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C O P T E R E X P R E S S . C O MDrones in education

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C O P T E R E X P R E S S . C O MApproaches to educational drones

• RTF drones

• modular drones

• kits of common parts

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C O P T E R E X P R E S S . C O MProblems of robotics education

Robotics is a young field. It makes it so interesting, but for the same reason it's hard to learn.

Alternatives:

• make something simple

• hide complexity

• make awesome documentation

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vue.js docs ROS docs

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C O P T E R E X P R E S S . C O MHow to teach robotics?

Alternatives:

• make something simple

• hide complexity

• make awesome documentation

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C O P T E R E X P R E S S . C O MOur drone kit

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C O P T E R E X P R E S S . C O MWhy “CLEVER”?

Клевер /ˈklʲevʲir/ – clover

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C O P T E R E X P R E S S . C O MCLEVER 4 kit

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C O P T E R E X P R E S S . C O MHardware & software

Speed controller ESC 4 pcs.

Power distributionboard with BEC

Flight controller

Single-boardcomputer

Machine vision camera

Electric motor 4 pcs.

Frame kit

Propellerprotection

AssemblySet

Charger

Light-emittingdiode strip

Assembly manual,Training Materials

Propellers (couple) 4 pcs.

Batteries 2 pcs.

Remote Control

Assemblykit

Trainingsimulator

Laserrangefinder

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C O P T E R E X P R E S S . C O MWhy PX4?

Autopilot software requirements: • flexibility • necessary features (low-level control, indoor

flights) • not just firmware, but the full stack (ground

control, log analysing) • simplicity • stability • community

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C O P T E R E X P R E S S . C O MDocumentationclever.copterexpress.com/en

http://clever.copterexpress.com/en

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C O P T E R E X P R E S S . C O MAdoption

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C O P T E R E X P R E S S . C O MPath of student

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C O P T E R E X P R E S S . C O MSchool

• school camps

• physics: maybe

• design & engineering: yes

• computer science: YES PLEASE WE WANNA CODE THE DRONE

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C O P T E R E X P R E S S . C O MSchool: benefits with drones

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C O P T E R E X P R E S S . C O MCollege«UAS Operating» educational standard for colleges

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C O P T E R E X P R E S S . C O MCollege: contests & competitions

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C O P T E R E X P R E S S . C O MUniversity:science & labs

Drone as:

• a tool for education

• a platform for research

Subjects:

• estimation theory

• control theory

• computer vision, SLAM, ML…

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C O P T E R E X P R E S S . C O MIROS 2019

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C O P T E R E X P R E S S . C O MIROS 2019

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C O P T E R E X P R E S S . C O MCommunity

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C O P T E R E X P R E S S . C O MTeam

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C O P T E R E X P R E S S . C O MCourses for teachers in Russia

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C O P T E R E X P R E S S . C O MCourses for teachers in China

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C O P T E R E X P R E S S . C O MSales

2016 2017 2018

kits214 kits

967 kits1243

AMOUNT SOLD

YEAR2019

kits2 0 0 0

CLEVER 1

CLEVER 2

CLEVER 3

CLEVER 4

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How does open sourceimpact business?

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C O P T E R E X P R E S S . C O MRussian market of educational drones

COEX Clever 4

Geoscan Pioneer

copter.space Zhu-Zha

MAI Filin

Edcom EdDrone

Droneshub Alfa

55 %

26 %

10 %

5 %

3 %

1 %

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Software framework goals

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C O P T E R E X P R E S S . C O MArchitecturalApproach

Library based (DroneKit) IPC based (ROS/MAVROS)

• Easier to understand • Install with simple pip install

• Introspection & Debugging • Visualization • Logging • Multiple nodes can access the same

data • User program doesn’t start the entire

system • Different programming languages • Transparently distributed

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C O P T E R E X P R E S S . C O MPositioning system

• GPS

• Motion Capture • Onboard camera based

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C O P T E R E X P R E S S . C O MOnboard camera based navigation

Fiducial markers (ArUco) Optical flow

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Flying in OFFBOARD

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C O P T E R E X P R E S S . C O MRaw MAVROSimport rospy from geometry_msgs.msg import PoseStamped from mavros_msgs.srv import CommandBool, SetMode

rospy.init_node('flight')

arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) pos_sp_pub = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=1)

lpos = None

def pose_callback(msg): global lpos lpos = msg

rospy.Subscriber('/mavros/local_position/pose', PoseStamped, pose_callback)

pos_sp = PoseStamped() pos_sp.header.frame_id = 'map' pos_sp.pose.orientation.w = 1

def publish_setpoint(event): pos_sp.header.stamp = rospy.get_rostime() pos_sp_pub.publish(pos_sp)

rospy.Timer(rospy.Duration(0.1), publish_setpoint)

# wait for local position while lpos is None: rospy.sleep(0.1)

# take off to 3 meters pos_sp.pose = lpos.pose pos_sp.pose.position.z += 3

rospy.sleep(1)

set_mode(base_mode=0, custom_mode='OFFBOARD') rospy.sleep(1)

arming(True)

rospy.spin()

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simple_offboard

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C O P T E R E X P R E S S . C O MProject template

import rospy from clever import srv from std_srvs.srv import Trigger

rospy.init_node('flight')

get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry) navigate = rospy.ServiceProxy('navigate', srv.Navigate) navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal) set_position = rospy.ServiceProxy('set_position', srv.SetPosition) set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity) set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude) set_rates = rospy.ServiceProxy('set_rates', srv.SetRates) land = rospy.ServiceProxy('land', Trigger)

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C O P T E R E X P R E S S . C O MTake Off

navigate(x=0, y=0, z=1, speed=0.5, frame_id='body', auto_arm=True)

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C O P T E R E X P R E S S . C O MBody Frame

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C O P T E R E X P R E S S . C O MUsage from Bash

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navigate(x=0, y=2, z=0, speed=0.5, frame_id='body')

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navigate(x=0, y=-2, z=0, speed=0.5, frame_id='body')

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land()

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for i in range(2): navigate(x=0, y=0, z=0.8, speed=1, auto_arm=True, frame_id='body') rospy.sleep(4)

navigate(x=0, y=2, z=0, speed=2, frame_id='body') rospy.sleep(4)

navigate(x=0, y=0, z=1, speed=2, frame_id='body') rospy.sleep(4)

navigate(x=0, y=-2, z=0, speed=2, frame_id='body') rospy.sleep(4)

navigate(x=0, y=0, z=-1, speed=2, frame_id='body') rospy.sleep(4)

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navigate(x=0, y=0, z=1, frame_id='aruco_107')

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navigate(x=0, y=0, z=1, frame_id='aruco_225')

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VPEVision Position Estimation

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navigate(x=0, y=0, z=1.5, speed=1, auto_arm=True, frame_id='body') rospy.sleep(8)

navigate(x=0, y=2.56, z=1.5, speed=3, yaw=0, frame_id='aruco_map') rospy.sleep(8)

navigate(x=0, y=1.28, z=1.5, speed=1, yaw=0, frame_id='aruco_map') rospy.sleep(8)

land()

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def vertical_circle(): RADIUS = 0.75 # m SPEED = 0.5 # rad / s

start = get_telemetry(frame_id='aruco_map') start_stamp = rospy.get_rostime()

r = rospy.Rate(10)

while not rospy.is_shutdown(): angle = (rospy.get_rostime() - start_stamp).to_sec() * SPEED y = start.y + math.sin(angle) * RADIUS z = start.z + math.cos(angle) * RADIUS set_position(x=0, y=y, z=z, frame_id='aruco_map') if angle > math.radians(720): break

r.sleep()

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C O P T E R E X P R E S S . C O M/get_telemetry

• connected • armed • mode • x, y, z • lat, lon • vx, vy, vz • pitch • roll • yaw • pitch_rate • roll_rate • yaw_rate • voltage • cell_voltage

Input Output• frame_id

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C O P T E R E X P R E S S . C O MLower level control

• /set_velocity • /set_attitude • /set_rates

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C O P T E R E X P R E S S . C O MFlip

def flip(): start = get_telemetry() # memorize starting position set_rates(thrust=1) # bump up rospy.sleep(0.2)

set_rates(roll_rate=30, thrust=0.2) while True: telem = get_telemetry()

if -math.pi < telem.roll < -0.2: break

set_position(x=start.x, y=start.y, z=start.z, yaw=start.yaw) # finish flip

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C O P T E R E X P R E S S . C O MFlip

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Raspberry Pi Image

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C O P T E R E X P R E S S . C O MBuilding image

•QEMU based builder •Configured network •ROS Kinetic •OpenCV •Periphery drivers •CLEVER software package •Additional software •Tests

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C O P T E R E X P R E S S . C O MWeb interface

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C O P T E R E X P R E S S . C O MButterfly

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C O P T E R E X P R E S S . C O MWeb Video Server

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C O P T E R E X P R E S S . C O MCI

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https://github.com/CopterExpress/clever

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C O P T E R E X P R E S S . C O MProjects

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C O P T E R E X P R E S S . C O MDrone show

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C O P T E R E X P R E S S . C O MDrone show

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C O P T E R E X P R E S S . C O MWarehouse inspection

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C O P T E R E X P R E S S . C O MSpherical protection

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C O P T E R E X P R E S S . C O MDrone wars

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C O P T E R E X P R E S S . C O MCopterHack

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C O P T E R E X P R E S S . C O MHow we taught a thousand students how to program drones

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Andrei Korigodskii

CTO

[email protected]

Alexey Shlykov

COO

[email protected]

Oleg Kalachev

Lead Developer

[email protected]

Documents

PX4 in STEM education: How we taught a thousand students how to program … · 2019-06-29 · How we taught a thousand students how to program drones. WEB PAGE Origins (2013) COPTEREXPRESS.COM