This repository forked from PX4-Autopilot for holds the PX4 flight control solution for DuctedFanUAV. It also contains the INDI controller, and a control allocator based on Library of Control Allocation Algorithms.
Our development work is now mainly concentrated on the df-1.12.3 branch, based on the v1.12.3 version of px4.
- An angular velocity controller based on the INDI control algorithm for DFUAV.
- Control allocator based on linear programming algorithm. Currently only ductedfan4 is supported, but it can be easily changed to support other models.
- Supported airframes:
- ductedfan2: DFUAV with two control surfaces and two rotors.
- ductedfan4: DFUAV with four control surfaces and one rotor.
- ductedfan6: DFUAV with six control surfaces and one rotor.
- ductedfan_mini: mini DFUAV with four control surfaces and one rotor.
- ToDo: many more experimental types based on Ducted Fan.
- Supports gazebo-based simulation and can easily communicate with the ros package. We implement DuctedFanUAV simulation by modifying the gazebo model and plugins, more detail in DF_gazebo which forked from PX4-SITL_gazebo-classic (sitl_gazebo).
- We have performed extensive flight tests with DuctedFanUAV equipped with Pixhawk.
Before running this project, you need to deploy the development environment. Please refer to the PX4 official website (v1.12) to ensure that your computer (macOS/Linux) can open the default model simulation by executing the make px4_sitl gazebo command and take off through QGC or terminal commands.
It's easy to upgrade this project to the latest version of px4, but we need a lot of testing before doing so.
The PX4 User Guide explains how to assemble supported vehicles and fly drones with PX4. See the forum and chat if you need help!
- ductedfan2
make px4_sitl gazebo_ductedfan2
- ductedfan4
make px4_sitl gazebo_ductedfan4
- ductedfan6
make px4_sitl gazebo_ductedfan6
- ductedfan_mini
make px4_sitl gazebo_ductedfan_mini
Taking pixhawk 4 as an example, the upload command is:
make px4_fmu-v5 upload
Other versions are similar, please refer to the official website for more details.