Welcome to the CASCADE UAV Swarming demonstration project wiki! You can find useful pages in the sidebar on the left detailing how to set up the hardware and software environments and solutions to various problems which have been encountered along the way.

Table of Contents

Note

This project is under active development.

• Installing Ubuntu Desktop
  • Downloading Ubuntu and making live USB
  • Installing Ubuntu on an external hard drive
  • Partitioning the rest of hard drive
• Installing Gazebo
• Installing PX4 Firmware (PX4-Autopilot)
• Running Gazebo with PX4 Firmware (PX4-Autopilot)
• [Contributors] Set up VS Code
• Installing QgroundControl and Running it with Gazebo & PX4 Firmware and creating a plan
  • Installing QgroundControl
  • Running QGroundControl with Gazebo and PX4 Firmware to create a plan based on waypoints
• Hardware Setup
  • Receiver Installation
  • WiFi Telemetry Setup
• Software Setup
  • Ubuntu Installation on UP Core
  • Enabling use of the serial port in Ubuntu (IMPORTANT)
  • Enabling SSH
• Router Configuration
  • Assign Static IP Addresses
• Ground Station Network Settings
• Spawning Multiple Drones in Gazebo
• Connecting to Multiple Drones with Mavsdk
• Program Flow Diagram
• 1. Centered Corridors
  • 1.1. Points of Corridors
  • 1.2. Directions of Corridors
• 2. Velocities & Swarming Rules During a Mission
  • 2.1. Lane Cohesion Velocity
  • 2.2. Migration Velocity
  • 2.3. Rotation Velocity
  • 2.4. Separation Velocity
  • 2.5. Passing Points
• 3. Preparations after and before a Mission