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To learn more about this project, read the wiki.
README.md 2.65 KiB

Manual Assist Mode

About

Manual Assist Mode is a mode where the quad is set to autonomous mode and then a usb controller is used to control a set point that the quad will move to. This is a seperate application that interfaces with a running backend instance.

Make Process

Plug in the usb controller and then check that the device file is there by using the following command

ls /dev/input/

In the output you should see the a device file that is called jsX where X is a number. ( normally js0 )

Check the path at the top of manual_assist_main.c to make sure it is mapping to the correct device file (the jsX file found in the prev step).

Finally run the main makefile for groundstation located in the MicroCART/groundStation/ directory.

Using

To use the Manual Assist Mode you will have to initially make the groundStation and ManualAssist executable as described above.

Next start up a backend instance the standard way as described by groundStation README

Next run through the standard demo initialization steps to get to the autonomous flight step.

Once you get the quad past the manual flight mode test, set it to autonomous mode by flipping the FLAP SWITCH to 0 on the manual mode normal controller (The NON USB controller)

Finally run the ManualAssist program by running the following command from the MicroCART/groundStation/ directory by running the following command

    ./ManualAssist

You can now use the controller to take off by flipping the channel 7 switch to the up position

Use Joysticks to move your set point within the safety range defined in your manual_assist_mode.c

When finished with your flight flip the channel 7 switch to the down position to land and flip the switches on the manual mode controller (NON USB) to manual and killed

Remember to end the ManualAssist program by using the ctrl + c key combination

Controller

alt text

  • Channel 5 switch
    UP = DEBUG ON
    DOWN = DEBUG OFF
  • Channel 7 switch
    UP = TAKEOFF script / controlling flight
    DOWN = LAND script / done flying
  • Left Joystick
    UP = QUAD height up CENTER = QUAD keep height
    DOWN = QUAD height down RIGHT / LEFT = nothing
  • Right Joystick
    UP = QUAD forward
    DOWN = QUAD backward
    RIGHT = QUAD right
    LEFT = QUAD left
    CENTER = keep X and Y

NOTE: When flying keep in mind the directions of the camera system!