Co-Active Autonomous Observing Systems

Research supported in part by ONR, AFRL, AFOSR, Lincoln Laboratory, MISTI, and NSF

Retrospective Cost Adaptive Control

This project is a collaboration under ONR with the University of Michigan.

Setting up Simulation Environments

PRE-REQUISITES

  • Setup your network to be in MIT or MIT VPN
  • Install python on your platform.
    • Install pyulog:
      • pip install pyulog
  • Install MATLAB px4 plot tools
  • Install QGroundControl
NOMINAL PX4 SYSTEM SETUP
  • In your skycandy account, install PX4 environment (ESSG Fork), clone/download the files (all files):https://github.com/sairavela/px4env and
    • source ubuntu_sim.h
  • Build px4/jmavsim
    • HEADLESS=1 make px4_sitl jmavsim
  • Set MAVLINK Broadcast at prompt
    • pxh> param set MAV_BROADCAST 1

You should be able to use QGroundControl to fly the MAV with a flight-plan. Download the logs and plot them as per the instructions in the matlab plotting routines.